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cs.RO2026
Scalable Behavior Cloning with Open Data, Training, and Evaluation
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh +15
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500…
cs.RO2026
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
Justin Yu, Andrew Goldberg, Kavish Kondap +7
Scaling imitation learning requires large datasets, yet human teleoperation inevitably produces mixed-quality demonstrations containing hesitations, retries, and pauses. Prior fram…