Borrowed Hands Still Need a Grip
TL;DR for operators Robot-learning teams do not usually run out of model ideas first. They run out of clean demonstrations on the exact robot, in the exact setup, with the exact action labels needed for behavioural cloning. The paper behind GLAM attacks that bottleneck directly: instead of asking whether cheap auxiliary demonstrations can be thrown into the training pile, it asks whether their effects can be translated into actions the target robot can actually execute.1 ...