BC_INVERSION
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When Does Predictive Inverse Dynamics Outperform Behavior Cloning?
arXiv:2601.21718v2 Announce Type: replace Abstract: Behavior cloning (BC) is a practical offline imitation learning method, but it often fails when expert demonstrations are limited. Recent works have introduced a class of architectures named predictive inverse dynamics models (PIDM) that combine a future state predictor with an inverse dynamics model. While PIDM often outperforms BC, the reasons behind its benefits remain unclear.
Evidence for a Functional Proximity Law in Multilayer Networks
arXiv:2604.23639v3 Announce Type: replace Abstract: Hub importance scores in multilayer networks persist more strongly between functionally similar layers than dissimilar ones. We call this the Functional Proximity Law and test it across 31 pre-registered experiments: 13 canonical domains (10 confirmed, 3 denied; molecular biology, neuroscience, computer systems, ecology, linguistics, AI architecture) plus 18 pre-registered external and replication validations (15 confirmed, 1 denied, 2...
Coherent Off-Policy Improvement of Large Behavior Models with Learned Rewards
Announce Type: new Abstract: Distilling expert demonstration data into large generative models using behavioral cloning is a scalable approach to learning capable policies for robotic control, particularly for dexterous manipulation. Reinforcement learning (RL) can be used as a means to finetune these policies further using additional experience. An open question is whether RL is more sample-efficient than collecting more human demonstrations.
Ask HN: What are tools you have made for yourself since the advent of AI?
I've made a number of ceramic molds for slumping fused glass into bowls. As well as wooden templates for ceramic mugs. I've devised a few carrying tools to move glass frit paintings from my studio down to my barn where the kilns sit without spilling the glass.