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FAKTUAL

technology1 mentionslast seen Oct 14, 2026

A data curation algorithm that selects a subset of demonstrations maximizing entropy given a subset-size budget for robot imitation learning.

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FAKTUALapplies torobot imitation learning

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preprintarXivOct 13, 2026Diversity You Can Actually Measure: A Fast, Model-Free Diversity Metric for Robotics Datasets
data curation algorithm that selects a subset of demonstrations maximizing entropy given a subset-size budget. FAKTUAL is fully model-free, requires no access to the imitation policy or rollouts, and adds negligible overhead relative to policy training. We evaluate our approach on image and state-based RoboMimic and MetaWorld benchmarks, as well as four real-world manipulation tasks