גילוי מפתחות עצמאי לשיבוט התנהגות

תקציר מקורי באנגליתarXiv:2610.10857v1 Announce Type: new Abstract: Behavior cloning (BC) in non-Markovian environments is a challenging problem because policies have to reason over contextual information over long horizons. Existing policy architectures rely on recurrent or attention-based mechanisms to capture long-term dependencies. However, recurrent models suffer from hidden-state collapse and gradient instability under backpropagation through time, while attention-based models are fundamentally limited by context length. To address these issues, we propose Keyframe Mnemonics, a novel self-supervised method that $\textit{discovers}$ a set of information-critical observations ($\textit{mnemonics}$) by learning an objective from randomly sampled past observations and using it as a reward for keyframe selec