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simmediummanipulationmetric · varies
A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulation
Description
Large behavior models have shown strong dexterous manipulation capabilities by extending imitation learning to large-scale training on multi-task robot data, yet their generalization remains limited by the insufficient robot data coverage. To expand this coverage without costly additional data collection, recent work relies on co-training: jointly learning from target robot data and heterogeneous data modalities. However, how different co-training data modalities and strategies affect policy per