Robotics data remains scarce and expensive, leaving many important tasks outside the pre-training distribution. Out-of-distribution ICL is therefore essential for general-purpose robot policies. S1 ICL can drive ultimate success in novel tasks 2/3rds of the time.
Robotics data remains scarce and expensive, leaving many important tasks outside the pre-training distribution. Out-of-distribution ICL is therefore essential for general-purpose robot policies. S1 ICL can drive ultimate success in novel tasks 2/3rds of the time.