CuraEval: Evaluating Demonstration Curation on Mixed-Skill Robot Data
arXiv:2610.38221v1 Announce Type: cross Abstract: Robot imitation learning uses demonstrations from operators of varying skill, but selecting training data remains challenging. Existing methods score demonstrations using smoothness, diversity, or estimated influence on policy performance, but differences in selection and evaluation protocols make it difficult to determine whether they outperform simple baselines. We introduce \textbf{CuraEval}, a framework combining mathematical analysis of dem…