ESPADA: Execution Speedup via Semantics Aware Demonstration Data Downsampling for Imitation Learning

Description

Behavior-cloning based visuomotor policies enable precise manipulation but often inherit the slow, cautious tempo of human demonstrations, limiting practical deployment. However, prior studies on acceleration methods mainly rely on statistical or heuristic cues that ignore task semantics and can fail across diverse manipulation settings. We present ESPADA, a semantic and spatially aware framework that segments demonstrations using a VLM-LLM pipeline with 3D gripper-object relations, enabling agg

Source