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Recent works have introduced a class of architectures named predictive inverse dynamics models (PIDMs) that combine a future-state predictor with an inverse dynamics model. While PIDMs often outperform BC, the reasons behind their benefits remain unclear. In this paper, we provide a theoretical explanation: PIDMs introduce a tradeoff. Conditioning the IDM on the predicted future state can significantly reduce variance, but the prediction itself introduces additional bias and variance. We establish conditions for PIDMs to achieve higher sample efficiency and lower prediction error than BC, with the gap widening when additional data sources are available. We validate the theoretical insights empirically in 2D navigation tasks, where BC requires up to five times (three times on average) more demonstrat","title":"When Does Predictive Inverse Dynamics Outperform Behavior Cloning?","url":"https://arxiv.org/abs/2601.21718","vendor":"arxiv_cs_ai"},"summary":"arXiv:2601.21718v3 Announce Type: replace-cross \nAbstract: Behavior cloning (BC) is a practical offline imitation learning method, but it often fails when expert demonstrations are limited. Recent works have introduced a class of architectures named predictive inverse dynamics models (PIDMs) that combine a future-state predictor with an inverse dynamics model. While PIDMs often outperform BC, the reasons behind their benefits remain unclear. In this paper, we provide a theoretical explanation: PIDMs introduce a tradeoff. Conditioning the IDM on the predicted future state can significantly reduce variance, but the prediction itself introduces additional bias and variance. We establish conditions for PIDMs to achieve higher sample efficiency and lower prediction error than BC, with the gap widening when additional data sources are available. We validate the theoretical insights empirically in 2D navigation tasks, where BC requires up to five times (three times on average) more demonstrat","title":"When Does Predictive Inverse Dynamics Outperform Behavior Cloning?","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-03T04:43:38Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2601.21718"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:caef7db1b49b3ee025231ed8d38f43345944e28f22bc38a1950a2cd9e5fc7b5eb629754c8239f7593eb46415c18aa00eb9d270c77a7cf2df0db24c04dda0cb08","signer":"crovia.substrate","subject":{"observed_at":"2026-07-03T04:43:38Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2601.21718"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"d90411f3119bb37650ba36dcedbe195197c698837052874567c13dfc2b25dd2e","leaf_index":275631,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"054c2232fc252ab8a6ef4785638a0cfb3fc8560e011cfbdcf622ae51822e7349","side":"left"},{"sibling":"9fcd15685faf3b0dcb1c5d7ce8cacd4604a9685e73f327bc47c2e7ae01bfc5d0","side":"left"},{"sibling":"7f72aa751305c05cbae5fdf85d73a3f69c557b6b1b7fdeeb6867b1f516116104","side":"left"},{"sibling":"58eb3464844c72cd944b5ce51d543867f65b340cf7e331d65dc909a77e4d5068","side":"left"},{"sibling":"4523f2e2ed07392ca6354dc09e7b6be2f4cc65741087a32c2b0571324bc6b32d","side":"right"},{"sibling":"70311759d2897e01a75ede5f18a94359cd6c4874c1f0ab122df71f10f93803ed","side":"left"},{"sibling":"f6a5a8b52c3636e3fd86258ae07a123a1b57c4c71568f8f17e2a762f7d9ee809","side":"right"},{"sibling":"afd7390845185d24208014fda1eda02563e823c07b9f4ce03d1011344ff5e6f8","side":"left"},{"sibling":"da9343635b180d3ddf07636b2a7814fcbf809adc1979958fa092ef6d16ef0db5","side":"right"},{"sibling":"1685b068d9bba0447845c97429c2a9ba728526abe2dc9d9522fed7b13d6620e4","side":"right"},{"sibling":"cf1e47b22a12b71fda307cbe1b98bc247fa4226ac8691ca8d99e6cc72a905b34","side":"left"},{"sibling":"4dbd8247ba08a5432c7d6540711da9acb2f59e6189865aa8552dee37f69286a9","side":"right"},{"sibling":"41cd1885dc3fcb51e49eeb887d6d22ec2cfa58df0e4f8d7c7dddf3a1b0ce8249","side":"left"},{"sibling":"8a09562f6b247c1c3cd1fea36cb3b8f1cf5c575479dd514573856a380a964bf5","side":"left"},{"sibling":"723981908169653ca6d835aa9b8381a8c7ad3e3e3830d0792bc32032cda615ee","side":"right"},{"sibling":"c0594fa1ee81d5f019cccc7b5e51af603c6d7e43995498c451012060c7d06165","side":"right"},{"sibling":"4de6a2fb22efbb50c84dc62abeb0f2cbc8c663a9540aeba9e758ebfdfe3e86dd","side":"right"},{"sibling":"fdbb3519f8dc411a4043dfb5abdbfea5441e130326183ac2247c42584033f152","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":275799,"merkle_root":"2581d0d6e5fa345cdf2e8ab3b191ace76d6b14189901ab0e4c2291ca1d1ae1e6","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260703T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-03T05:38:09Z","sig_algorithm":"ed25519","signature":"e44a386a5ae00c0e7fc67b1179bb9060bf0fefc006e454fec70e27668182ff497d1e2faf0c3b22de0917beefb7c80e880dae925a3f67e1b16aa0eb44bf947407","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_6b2e544cd6b9ea63ca11d52f26132f2d22b0738d0b640cdc51a1e2a452f7bced"}}