Demo Triage

Which robot demonstrations to watch before they go into a training set.

Robot learning runs on human demonstrations, and some of them fail: the object slips, the task is abandoned. A failed demo in a training set teaches the robot the wrong thing, and finding it means watching video. Demo Triage ranks episodes by how likely each is a failure, from the arm's motion alone, so a reviewer watches the likely failures first. Every episode here is real, from the DROID dataset, and every score was made by a model that had never seen that building.