# What Demonstration Curation Metrics Do to Your Policy

arXiv: https://arxiv.org/abs/2606.10229 · HTML: https://mlsanity.com/paper/2606.10229/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 6 of its 10 references that are in the map.
- First posted on arXiv 8 Jun 2026.

## Builds on (most cited first, 6 of 6)

- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [What Matters in Learning from Offline Human Demonstrations for Robot Manipulation](https://mlsanity.com/paper/2108.03298/) (2021)
- [robosuite: A Modular Simulation Framework and Benchmark for Robot Learning](https://mlsanity.com/paper/2009.12293/) (2020)
- [LeRobot: An Open-Source Library for End-to-End Robot Learning](https://mlsanity.com/paper/2602.22818/) (2026)

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

- [Phase-Localized Curation Does Not Help: A Negative Result on Per-Phase Metric Selection for Demonstration Filtering](https://mlsanity.com/paper/2606.15064/) (2026)

## Abstract (arXiv)

We study whether demonstration-curation metrics that detect defective training episodes also improve the downstream behavior-cloning policy that trains on the curated data. On a contact-rich LIBERO pick-and-place benchmark with a controlled structural defect (early gripper release during the carry phase), we find that the two quantities are sharply decoupled. The metric with the highest defect-detection AUROC (0.804) produces the worst curated policy (13.3% task success), while a metric with a substantially lower AUROC (0.638) produces a policy that nearly matches the oracle trained on ground-truth clean data (90.0% vs. 93.3%). We further show that five of the seven metrics we evaluate exploit episode length as a trivial proxy for the defect label, a confound that inflates reported AUROCs to near-perfect values and disappears once episode length is controlled. Across all conditions, the contaminated baseline succeeds on only 3.3% of rollouts, and the two best curation methods close this to within 3 percentage points of the 93.3% oracle ceiling. Our results argue that curation methods should be evaluated by the policy they produce, not the defects they flag, and that any curation benchmark must control for episode length before reporting detection accuracy. We release the testbed, all metric implementations, and the evaluation pipeline.