arXiv (OAI Expanded)
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Mind the Gap: Rethinking I/O Design for Contact-Rich Visuomotor Policy Learning
Contact-rich teleoperation logs expose a policy I/O design choice: demonstrations may contain the robot execution (E), leader command (C), or both. These signals are not interchangeable: E2E may discard contact-generating command offsets, whereas E2C preserves these offsets but omits the robot's exe
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