{"id":"https://openalex.org/W7166116462","doi":"https://doi.org/10.48550/arxiv.2606.27375","title":"Scalable Behavior Cloning with Open Data, Training, and Evaluation","display_name":"Scalable Behavior Cloning with Open Data, Training, and Evaluation","publication_year":2026,"publication_date":"2026-06-25","ids":{"openalex":"https://openalex.org/W7166116462","doi":"https://doi.org/10.48550/arxiv.2606.27375"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.27375","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27375","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.27375","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013859228","display_name":"Arthur Allshire","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Allshire, Arthur","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033422078","display_name":"Himanshu Singh","orcid":"https://orcid.org/0000-0002-0410-0602"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Singh, Himanshu Gaurav","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056045969","display_name":"Ritvik Singh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Singh, Ritvik","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113146054","display_name":"Adam Rashid","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rashid, Adam","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058706173","display_name":"Hongsuk Choi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Choi, Hongsuk","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139393084","display_name":"David McAllister","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"McAllister, David","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107877612","display_name":"J. Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Justin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139433165","display_name":"Yiyuan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122964295","display_name":"H Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Huang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139439571","display_name":"Pieter Abbeel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abbeel, Pieter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139454306","display_name":"Xi Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036908757","display_name":"Rocky Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Rocky","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139394304","display_name":"Phillip Isola","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Isola, Phillip","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139447194","display_name":"Jitendra Malik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Malik, Jitendra","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086456718","display_name":"Fred Shentu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shentu, Fred","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029314167","display_name":"Guanya Shi","orcid":"https://orcid.org/0000-0002-9075-3705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Guanya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036746035","display_name":"Philipp Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Philipp","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5031491881","display_name":"Angjoo Kanazawa","orcid":"https://orcid.org/0000-0003-2592-8430"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kanazawa, Angjoo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.39089998602867126,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.39089998602867126,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.14550000429153442,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.10010000318288803,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6261000037193298},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5848000049591064},{"id":"https://openalex.org/keywords/cloning","display_name":"Cloning (programming)","score":0.4169999957084656},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.31529998779296875},{"id":"https://openalex.org/keywords/titan","display_name":"Titan (rocket family)","score":0.31040000915527344},{"id":"https://openalex.org/keywords/workaround","display_name":"Workaround","score":0.301800012588501}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6543999910354614},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6261000037193298},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5848000049591064},{"id":"https://openalex.org/C121050878","wikidata":"https://www.wikidata.org/wiki/Q5135020","display_name":"Cloning (programming)","level":2,"score":0.4169999957084656},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32829999923706055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3278999924659729},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C50805821","wikidata":"https://www.wikidata.org/wiki/Q1136670","display_name":"Titan (rocket family)","level":2,"score":0.31040000915527344},{"id":"https://openalex.org/C194541083","wikidata":"https://www.wikidata.org/wiki/Q457174","display_name":"Workaround","level":2,"score":0.301800012588501},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.29750001430511475},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2924000024795532},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.26260000467300415},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.26080000400543213},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.26010000705718994}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.27375","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27375","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.27375","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27375","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6111798882484436,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,49,83],"introduce":[1],"ABC,":[2],"a":[3,59,70,126,151],"fully":[4],"open-source":[5,19,39],"stack":[6],"for":[7,73,93],"manipulation":[8],"with":[9],"behavior":[10],"cloning.":[11],"At":[12],"its":[13],"core":[14],"is":[15],"ABC-130K:":[16],"the":[17,139,144],"largest":[18],"teleoperation":[20],"dataset":[21],"to":[22,131,142],"date,":[23],"featuring":[24],"3,500":[25],"hours":[26,53],"of":[27,54,146],"data":[28,56],"spanning":[29],"over":[30],"130K":[31],"episodes":[32],"across":[33],"195":[34],"diverse":[35],"tasks.":[36],"Furthermore,":[37],"we":[38,129],"our":[40,102],"accessible":[41],"hardware":[42],"setup,":[43],"training":[44,77,86],"infrastructure,":[45],"and":[46,57,66,76,88,97,118],"simulation":[47,65],"pipeline.":[48],"also":[50],"release":[51],"400":[52],"sim-teleop":[55],"provide":[58],"co-training":[60],"recipe":[61],"that":[62],"produces":[63],"correlated":[64],"real-world":[67,81,105],"evaluation,":[68],"offering":[69],"reliable":[71],"proxy":[72],"ablating":[74],"model-design":[75],"decisions":[78],"before":[79],"costly":[80],"evaluation.":[82],"explore":[84],"various":[85],"recipes":[87],"compare":[89],"common":[90],"architectural":[91],"choices":[92],"Diffusion":[94],"Transformers":[95],"(DiT)":[96],"Vision-Language-Action":[98],"(VLA)":[99],"models,":[100],"grounding":[101],"findings":[103],"in":[104],"evaluations.":[106],"The":[107],"resulting":[108],"policies":[109],"successfully":[110],"execute":[111],"dexterous":[112],"tasks":[113],"such":[114],"as":[115,150],"box":[116],"folding":[117],"extracting":[119],"credit":[120],"cards":[121],"from":[122],"wallets.":[123],"By":[124],"providing":[125],"reproducible":[127],"toolkit,":[128],"aim":[130],"place":[132],"researchers":[133],"on":[134],"an":[135],"equal":[136],"footing,":[137],"establishing":[138],"necessary":[140],"foundation":[141],"learn":[143],"ABCs":[145],"Behavior":[147],"Cloning":[148],"together":[149],"community.":[152]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-27T00:00:00"}
