Diffusion-2BC: Hybrid Diffusion and Regression Training for Offline Behavior Cloning in Autonomous Driving

תקציר מקורי באנגליתarXiv:2609.38472v2 Announce Type: replace-cross Abstract: Behavior cloning provides an offline route to autonomous-driving policy learning, but mean-squared-error regression is poorly matched to demonstrations in which one observation admits several valid actions. Diffusion policies can represent conditional multimodal action distributions, yet their closed-loop performance may be unstable when visual features and control are learned from limited data. This paper presents Diffusion-2BC, which combines a diffusion denoising objective with an auxiliary deterministic behavior-cloning loss over a shared visual encoder. The auxiliary branch is used only during training; inference remains diffusion-based. The proposed method is evaluated in the controlled Claw environment and in bird's-eye-view