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simmediummanipulation-datametric · varies
Beyond Viewpoint Generalization: What Multi-View Demonstrations Offer and How to Synthesize Them for Robot Manipulation?
Description
Does multi-view demonstration truly improve robot manipulation, or merely enhance cross-view robustness? We present a systematic study quantifying the performance gains, scaling behavior, and underlying mechanisms of multi-view data for robot manipulation. Controlled experiments show that, under both fixed and randomized backgrounds, multi-view demonstrations consistently improve single-view policy success and generalization. Performance varies non-monotonically with view coverage, revealing eff