The method uses attention discrepancy metrics on latent success-failure representations to select beneficial failure data for imitation learning, raising task success rates in simulations.
Diffusion policy: Visuomotor policy learning via action diffusion
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How to utilize failure demo data?: Effective data selection for imitation learning using distribution differences in attention mechanism
The method uses attention discrepancy metrics on latent success-failure representations to select beneficial failure data for imitation learning, raising task success rates in simulations.