人間介入を活用したグラフ再重み付け行動クローニングによる高精度ロボットマニピュレーション

原文アブストラクト

Long-horizon precise manipulation produces mixed-quality data for post-training vision-language-action (VLA) models: even successful demonstrations and intervention-assisted rollouts may contain detours, hesitations, failed attempts, and imperfect recoveries. The key challenge is to identify which action chunks actually advance the task, rather than uniformly cloning or discarding imperfect trajectories. We propose Graph-Reweighted Behavior Cloning (GR-BC), an offline iterative post-training framework that builds a task-conditioned goal-reachability graph over demonstrations and iteratively collected rollouts, including both successful and failed episodes with human interventions. Reverse graph search computes minimal remaining steps to task success within the dataset support, and each action chunk is weighted by how much its execution reduces this potential. This consequence-based weighting reuses recoverable segments from failed trajectories, leverages interventions as recovery paths, and down-weights locally regressive chunks even inside successful trajectories. New rollouts are incorporated by appending them to the graph and rerunning search, without training a reward model, action-conditioned critic, or progress predictor. Across four precise manipulation tasks and three VLA backbones, GR-BC improves single-round supervised fine-tuning and reaches 91% success after a few offline iterations, without trajectory comparisons or progress labels. More details and videos are available at: https://gr-bc.github.io