ReWeight: Leveraging Human Data for VLA Post-Training via Demonstration Retrieval and Sample Weighting
Post-training vision-language-action (VLA) models for specific robots and tasks requires in-domain demonstrations, yet collecting diverse robot data is costly. Egocentric human demonstrations provide a scalable alternative, but directly mixing human and robot data can introduce cross-embodiment discrepancies and degrad...
Chen-Wei Wang, Dian-Ye Huang, Match W. L. Ko et al.
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