MoRE improves robot policy success rates by 44 percentage points by distilling mode redirection into weights, matching filtered retraining performance without inference overhead.
Specialized deep residual policy safe reinforcement learning-based controller for complex and continuous state-action spaces.arXiv preprint arXiv:2310.14788,
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Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
MoRE improves robot policy success rates by 44 percentage points by distilling mode redirection into weights, matching filtered retraining performance without inference overhead.