Geometric diversity of demonstration trajectories exhibits an inverted-U effect on imitation learning success, with the peak shifting lower as mastery increases via more data, easier tasks, or stronger priors.
Fieldgen: From teleoperated pre-manipulation trajectories to field-guided data generation,
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Geometric Entropy: When Trajectory Diversity Helps and Hurts in Imitation Learning
Geometric diversity of demonstration trajectories exhibits an inverted-U effect on imitation learning success, with the peak shifting lower as mastery increases via more data, easier tasks, or stronger priors.