On the Strengths and Weaknesses of Data for Open-set Embodied Assistance
Embodied foundation models are increasingly performant in real-world domains such as robotics or autonomous driving. These models are often deployed in interactive or assistive settings, where it is important that these assistive models generalize to new users and new tasks. Diverse interactive data generation offers a promising avenue for providing data-efficient generalization capabilities for interactive embodied foundation models. In this paper, we investigate the generalization capabilities of a multimodal foundation model fine-tuned on diverse interactive assistance data in a synthetic domain. We explore generalization along two axes: a) assistance with unseen categories of user beh...
| Authors | Pradyumna Tambwekar, Andrew Silva, Deepak Gopinath et al. |
|---|---|
| Primary category | cs.RO |
| Published | 5 March 2026 |
| Last updated at source | 5 March 2026 |
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