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Phase-Localized Curation Does Not Help: A Negative Result on Per-Phase Metric Selection for Demonstration Filtering

arXiv cs.LG ↗ · 2026-06-16 Cached

This paper investigates whether per-phase metric selection improves demonstration curation for behavior cloning policies. The authors find that phase-gated curation never outperforms global or uniform metric application, and the dilution of defect signals across phases explains the failure.

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