PIDM: Predictive Inverse Dynamic Models

February 5, 2026 | Pallavi Choudhury, Lukas Schäfer, Chris Lovett, Katja Hofmann, and Sergio Valcarcel Macua

This research looks at why Predictive Inverse Dynamics Models often outperform standard Behavior Cloning in imitation learning. By using simple predictions of what happens next, PIDMs reduce ambiguity and learn from far fewer demonstrations.