Behavioral Cloning Mysteries: Why Overfitting Can Be 'Good' in Robotics
kastnerkyle · x · 2026-08-25
Seohong Park wrote a blog post discussing mysterious phenomena in behavioral cloning (BC) that appear with real-world robot data, such as overfitting being "good". The author notes that real data differs significantly from simulation benchmarks (like D4RL) and is affected by environmental factors like lighting and temperature, making reproducibility hard. To investigate, the author scripted policies in simulation to generate human-like data, successfully reproducing counter-intuitive phenomena in tasks like block stacking and Tower of Hanoi, and analyzes potential causes.
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