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cross-configuration learning 1legacy data reuse 1policy training 1robot manipulation 1transfer learning 1

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cs.RO2026

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning

Tao Wang, Hudson Hou, Yingdong Hu +7

The paper investigates when demonstration data collected on an older robot configuration becomes useful for training a newer robot, revealing a three‑phase pattern where legacy dat…