Kavin60606/isr-aloha-transfer-cube-experiment

Does ISR (Information-Standardized Trajectory Resampling) improve policy success? A closed-loop test on public human teleop data TL;DR — On lerobot/aloha_sim_transfer_cube_human (50 human demos) with ACT, evaluated by 100 sim rollouts per cell over 2 training seeds: claim result ISR beats the paper's 3× uniform baseline at equal frame budget (~⅓ frames) 42 / 40 % vs 31 / 20 % (seed 1 / seed 2) ✅ ISR at half the frames matches full data 60 / 62 % vs 62 / 63 % ✅… See the full description on the dataset page: https://huggingface.co/datasets/Kavin60606/isr-aloha-transfer-cube-experiment.

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