arxivcs.RO2026-07-07
SIEVE: Structure-Aware Data Selection for Imitation Learning with VLA Models
Changti Wu, Bin Yu, Zhaolong Shen, Shijie Lian, Xiaopeng Lin, Cong Huang, et al.
Vision-Language-Action (VLA) models are typically trained by imitation learning on large-scale robot demonstration datasets, but more data does not necessarily yield better policies due to redundancy, noise, and uneven coverage. Existing data selection methods often assess demons…