# Self-Supervised Keyframe Discovery for Horizon-Invariant Behavior Cloning

**Published:** October 9, 2026
**Author:** Prabin Kumar Rath, Omkar Patil, Nakul Gopalan
**Source:** arXiv — cs.AI
**Language:** en-US
**HTML:** https://aiqazaqstan.com/en/articles/self-supervised-keyframe-discovery-for-horizon-invariant-behavior-clonin

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,…

> From the original source: **arXiv — cs.AI**
> [Read full article at arXiv — cs.AI](https://arxiv.org/abs/2610.10857)

**Tags:** #arXiv

---

*AI Qazaqstan — non-commercial informational portal about AI in Kazakhstan. Machine translations and summaries are AI-generated.*