@article{whendoespredictiveinversedynamicsoutperf,
  title = {When Does Predictive Inverse Dynamics Outperform Behavior Cloning?},
  author = {Lukas Schäfer and Pallavi Choudhury and Abdelhak Lemkhenter and Chris Lovett and Somjit Nath and Luis França and Matheus Ribeiro Furtado de Mendonça and Alex Lamb and Riashat Islam and Siddhartha Sen and John Langford and Katja Hofmann and Sergio Valcarcel Macua},
  year = {2026},
  eprint = {2601.21718},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.21718},
}