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ElevateHead: Decide Once, Then Commit: When the Action Head Matters for Multimodal Imitation
Robots that learn from people often see several valid ways to do the same task: pass an obstacle on the left or on the right, open the microwave or move the kettle first. A policy that re-decides at every step can waver between these ways mid-task. We ask when the action head (the part of a policy t
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