Scaling robust driving policies is fundamentally bottlenecked by the scarcity of edge cases in curated datasets. While the real world continuously captures these critical events, such long-tail events remain underutilized when collected from heterogeneous sources. Specifically, d…
Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a policy trained on diverse handover demonstrations may learn to pass a knife blade-first. Standard remedie…