RINSE scores robot demonstration trajectories for smoothness via SAL and TED metrics to curate higher-quality data for behavioral cloning, improving success rates with less data on benchmarks and real robots.
A robust and sensitive metric for quantifying movement smoothness,
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Learning from the Best: Smoothness-Driven Metrics for Data Quality in Imitation Learning
RINSE scores robot demonstration trajectories for smoothness via SAL and TED metrics to curate higher-quality data for behavioral cloning, improving success rates with less data on benchmarks and real robots.