Robot Data Filtering Sped Up 313x
jiqizhixin · x · 2026-07-11
- This work introduces ATHENA to make robot data annotation/filtering more efficient by using influence functions to determine which demonstration data actually aids task performance.
- Methodologically, it leverages neural network gradient structures and uses rank-r random approximation to estimate the Hessian, making previously slow computations viable.
- Results show a roughly 313x speedup in influence calculations; in simulations, using only 50% of the demonstration data matched or exceeded full fine-tuning performance.
- Across 6 real-world robot tasks, achieving full-data performance required only 66.7% of the data.
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