4 papers
Phase-Localized Curation Does Not Help: A Negative Result on Per-Phase Metric Selection for Demonstration Filtering
Aarav Bedi
Manipulation demonstrations have temporal phase structure, and a natural hypothesis is that demonstration-curation metrics should be applied within phases rather than globally. The…
What Demonstration Curation Metrics Do to Your Policy
Aarav Bedi
We study whether demonstration-curation metrics that detect defective training episodes also improve the downstream behavior-cloning policy that trains on the curated data. On a co…
Auditing Demonstration Curation Metrics: Action-Only Scorers Fail on the Structural Defects That Degrade Imitation Policies
Aarav Bedi
Imitation-learning policies inherit the quality of the demonstrations they are trained on, and a growing set of curation metrics promise to score and filter low-quality demonstrati…
How Visible Are Silent Manipulation Failures? An Observability Study of False-Success Detection in Simulated Robot Episodes
Aarav Bedi
Imitation-learning policies for robot manipulation inherit the quality of the success labels attached to their training episodes, and those labels are usually produced by the robot…