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cs.RO2026
Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
Hao Wang, Jiuzhou Lei, Dayou Li +5
Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a polic…
cs.RO2026
Learning Actionable Manipulation Recovery via Counterfactual Failure Synthesis
Dayou Li, Jiuzhou Lei, Hao Wang +6
While recent foundation models have significantly advanced robotic manipulation, these systems still struggle to autonomously recover from execution errors. Current failure-learnin…