Manling Li

Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering

Hao Wang, Jiuzhou Lei, Dayou Li, Bangya Liu, Minghui Zheng, Manling Li, et al.

Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a policy trained on diverse handover demonstrations may learn to pass a knife blade-first. Standard remedie…Read more