{"paper":{"title":"Robot Data Curation with Mutual Information Estimators","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Annie Xie, Ashwin Balakrishna, Ayzaan Wahid, Coline Devin, Dhruv Shah, Dorsa Sadigh, Joey Hejna, Jonathan Tompson, Pannag Sanketi, Suvir Mirchandani","submitted_at":"2025-02-12T18:23:23Z","abstract_excerpt":"The performance of imitation learning policies often hinges on the datasets with which they are trained. Consequently, investment in data collection for robotics has grown across both industrial and academic labs. However, despite the marked increase in the quantity of demonstrations collected, little work has sought to assess the quality of said data despite mounting evidence of its importance in other areas such as vision and language. In this work, we take a critical step towards addressing the data quality in robotics. Given a dataset of demonstrations, we aim to estimate the relative qual"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.08623","kind":"arxiv","version":3},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2502.08623/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}