In this paper, we propose a framework, collective behavioral cloning (CBC), to learn the underlying interaction mechanism and control policy of a swarm system. Given the trajectory data of a swarm system, we propose a graph variational autoencoder (GVAE) to learn the local interaction graph. Based on the interaction graph and swarm trajectory, we use behavioral cloning to learn the control policy of the swarm system. To demonstrate the practicality of CBC, we deploy it on a real-world decentralized vision-based robot swarm system. A visual attention network is trained based on the learned interaction graph for online neighbor selection. Experimental results show that our method outperforms previous approaches in predicting both the interaction graph and swarm actions with higher accuracy. This work offers a promising approach for understanding interaction mechanisms and swarm dynamics in future swarm robotics research. Code and data are available.
View on arXiv@article{li2025_2503.06869,
title={ Collective Behavior Clone with Visual Attention via Neural Interaction Graph Prediction },
author={ Kai Li and Zhao Ma and Liang Li and Shiyu Zhao },
journal={arXiv preprint arXiv:2503.06869},
year={ 2025 }
}