Self-supervised relative progress from time-warped demos reweights BC action chunks, sustaining ~19/20 success and up to ~18× throughput on mixed-quality T-shirt folding where vanilla BC fails.
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WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation
Self-supervised relative progress from time-warped demos reweights BC action chunks, sustaining ~19/20 success and up to ~18× throughput on mixed-quality T-shirt folding where vanilla BC fails.