ESPADA uses semantic segmentation from VLMs and LLMs plus DTW to downsample non-critical segments in demonstrations, delivering about 2x faster robot execution in behavior cloning while maintaining task success rates.
Sail: Faster- than-demonstration execution of imitation learning policies,
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ESPADA: Execution Speedup via Semantics Aware Demonstration Data Downsampling for Imitation Learning
ESPADA uses semantic segmentation from VLMs and LLMs plus DTW to downsample non-critical segments in demonstrations, delivering about 2x faster robot execution in behavior cloning while maintaining task success rates.