# Data-Efficient Multitask DAgger

arXiv: https://arxiv.org/abs/2509.25466 · HTML: https://mlsanity.com/paper/2509.25466/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 44 of its 52 references that are in the map.
- First posted on arXiv 29 Sep 2025.

## Builds on (most cited first, 30 of 44)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real World](https://mlsanity.com/paper/1703.06907/) (2017)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [Solving Rubik's Cube with a Robot Hand](https://mlsanity.com/paper/1910.07113/) (2019)
- [PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understanding](https://mlsanity.com/paper/1812.02713/) (2018)
- [BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning](https://mlsanity.com/paper/2202.02005/) (2022)
- [Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning](https://mlsanity.com/paper/2109.11978/) (2021)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [An Embodied Generalist Agent in 3D World](https://mlsanity.com/paper/2311.12871/) (2023)
- [Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments](https://mlsanity.com/paper/2301.04195/) (2023)
- [HG-DAgger: Interactive Imitation Learning with Human Experts](https://mlsanity.com/paper/1810.02890/) (2018)
- [Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets](https://mlsanity.com/paper/2109.13396/) (2021)
- [CAD2RL: Real Single-Image Flight without a Single Real Image](https://mlsanity.com/paper/1611.04201/) (2016)
- [Modular Multitask Reinforcement Learning with Policy Sketches](https://mlsanity.com/paper/1611.01796/) (2016)
- [DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality](https://mlsanity.com/paper/2210.13702/) (2022)
- [Learning to Generalize Across Long-Horizon Tasks from Human Demonstrations](https://mlsanity.com/paper/2003.06085/) (2020)
- [Grounding Language with Visual Affordances over Unstructured Data](https://mlsanity.com/paper/2210.01911/) (2022)
- [EnsembleDAgger: A Bayesian Approach to Safe Imitation Learning](https://mlsanity.com/paper/1807.08364/) (2018)
- [Query-Efficient Imitation Learning for End-to-End Autonomous Driving](https://mlsanity.com/paper/1605.06450/) (2016)
- [BAKU: An Efficient Transformer for Multi-Task Policy Learning](https://mlsanity.com/paper/2406.07539/) (2024)
- [ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenes](https://mlsanity.com/paper/2304.04321/) (2023)
- [LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery](https://mlsanity.com/paper/2311.02058/) (2023)

## Built on by (most cited first, 1 of 1)

- [A GPU-Parallel Framework for Heterogeneous Multi-Task Reinforcement Learning](https://mlsanity.com/paper/2606.03335/) (2026)

## Abstract (arXiv)

Generalist robot policies that can perform many tasks typically require extensive expert data or simulations for training. In this work, we propose a novel Data-Efficient multitask DAgger framework that distills a single multitask policy from multiple task-specific expert policies. Our approach significantly increases the overall task success rate by actively focusing on tasks where the multitask policy underperforms. The core of our method is a performance-aware scheduling strategy that tracks how much each task's learning process benefits from the amount of data, using a Kalman filter-based estimator to robustly decide how to allocate additional demonstrations across tasks. We validate our approach on MetaWorld, as well as a suite of diverse drawer-opening tasks in IsaacLab. The resulting policy attains high performance across all tasks while using substantially fewer expert demonstrations, and the visual policy learned with our method in simulation shows better performance than naive DAgger and Behavior Cloning when transferring zero-shot to a real robot without using real data.