← 研踪 PaperTrailarXiv:2605.08571 · v4
BEACON: Cross-Domain Co-Training of Generative Robot Policies via Best-Effort Adaptation
首次提交 2026-05-09 08:15
版本更新 2026-11-01 06:02
雷达观测 2026-11-04 23:43
摘要
We introduce BEACON--Best-Effort Adaptation for Cross-Domain Co-Training--a theory-guided framework for training generative robot policies with abundant source demonstrations and limited target demonstrations. BEACON casts cross-domain co-training as a discrepancy-aware importance-reweighting problem, jointly learning a diffusion-based visuomotor policy and per-sample source weights through an objective inspired by the Best-Effort Adaptation (BEA) bound. To make this approach practical for high-dimensional sequence policies, we develop scalable instance-level discrepancy proxies, stochastic alternating updates for policy and weights, and a multi-source extension that balances heterogeneous source domains. Across sim-to-sim, sim-to-real, and multi-source manipulation settings, BEACON improves robustness and data efficiency over target-only, fixed-ratio co-training, and feature-alignment baselines. Without an explicit alignment objective, BEACON also brings source and target representations closer together as an implicit result of discrepancy-aware co-training.
观测到的版本
相邻记录可能跳过中间版本；首次发现 v2 及以上也会标为版本更新。
v4 · 2026-11-01 06:02 · 最新观测版本
BEACON: Cross-Domain Co-Training of Generative Robot Policies via Best-Effort Adaptation
We introduce BEACON--Best-Effort Adaptation for Cross-Domain Co-Training--a theory-guided framework for training generative robot policies with abundant source demonstrations and limited target demonstrations. BEACON casts cross-domain co-training as a discrepancy-aware importance-reweighting problem, jointly learning a diffusion-based visuomotor policy and per-sample source weights through an objective inspired by the Best-Effort Adaptation (BEA) bound. To make this approach practical for high-dimensional sequence policies, we develop scalable instance-level discrepancy proxies, stochastic alternating updates for policy and weights, and a multi-source extension that balances heterogeneous source domains. Across sim-to-sim, sim-to-real, and multi-source manipulation settings, BEACON improves robustness and data efficiency over target-only, fixed-ratio co-training, and feature-alignment baselines. Without an explicit alignment objective, BEACON also brings source and target representations closer together as an implicit result of discrepancy-aware co-training.
查看此版本解读 →查看此版本原文 ↗