Phase-Localized Curation Does Not Help: A Negative Result on Per-Phase Metric Selection for Demonstration Filtering

In three linesNegative result on per-phase metric selection for demonstration filtering in robotic manipulation. Across three LIBERO pick-and-place tasks, phase-gated curation never outperforms global metrics (Task 1: 86.0 vs 92.0). Rank-aggregating defect signals across phases dilutes informative scores. Authors recommend identifying a single defect-informative metric over phase-based decomposition.

Summary generated by Claude — human-verified