# Robomimic Recurrent Behavior Cloning Policy: Likelihood Modeling, LSTM Deployment, and OSC Control Reproduction

- Source: Guyuehome
- Published: 2026-10-29T06:31:00.000Z
- RoboHot: https://robohot.news/en/items/xbppsqbjuyfg8yav7av87qepa
- Original: https://www.guyuehome.com/detail?id=2104820522345852929

## Summary

This content describes reproducing the lift and can manipulation tasks in MuJoCo using the official recurrent behavior cloning weights from the robomimic model zoo. It reconstructs the mathematical details of BC likelihood modeling, LSTM deployment semantics, and OSC impedance control.