{"id":"https://openalex.org/W7160849379","doi":"https://doi.org/10.48550/arxiv.2605.07381","title":"Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation","display_name":"Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation","publication_year":2026,"publication_date":"2026-05-08","ids":{"openalex":"https://openalex.org/W7160849379","doi":"https://doi.org/10.48550/arxiv.2605.07381"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.07381","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.07381","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.07381","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135882323","display_name":"Yanzhe Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yanzhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101958529","display_name":"Kevin Ma","orcid":"https://orcid.org/0009-0008-8077-4650"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Kevin Yuchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135863998","display_name":"Qi Lv","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lv, Qi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135896060","display_name":"Yiqi Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Yiqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037364812","display_name":"Zechen Bai","orcid":"https://orcid.org/0000-0001-5953-0442"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bai, Zechen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135864765","display_name":"Chen Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Chen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135839370","display_name":"Mike Zheng Shou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shou, Mike Zheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.3589000105857849,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.3589000105857849,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.21130000054836273,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.14489999413490295,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6995000243186951},{"id":"https://openalex.org/keywords/extrapolation","display_name":"Extrapolation","score":0.659600019454956},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6266999840736389},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5806000232696533},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.49939998984336853},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48910000920295715},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4307999908924103},{"id":"https://openalex.org/keywords/diversity","display_name":"Diversity (politics)","score":0.4223000109195709},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.40950000286102295}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6995000243186951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6740000247955322},{"id":"https://openalex.org/C132459708","wikidata":"https://www.wikidata.org/wiki/Q744069","display_name":"Extrapolation","level":2,"score":0.659600019454956},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6266999840736389},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5806000232696533},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.49939998984336853},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48910000920295715},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4307999908924103},{"id":"https://openalex.org/C2781316041","wikidata":"https://www.wikidata.org/wiki/Q1230584","display_name":"Diversity (politics)","level":2,"score":0.4223000109195709},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.40950000286102295},{"id":"https://openalex.org/C121099081","wikidata":"https://www.wikidata.org/wiki/Q665580","display_name":"Trap (plumbing)","level":2,"score":0.40720000863075256},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4043000042438507},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.37290000915527344},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.3720000088214874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3587000072002411},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3280999958515167},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.30399999022483826},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.30239999294281006},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.26980000734329224},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.07381","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.07381","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.07381","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.07381","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"While":[0],"Vision-Language-Action":[1],"(VLA)":[2],"models":[3],"offer":[4],"broad":[5],"general":[6],"capabilities,":[7],"deploying":[8],"them":[9],"on":[10],"specific":[11],"hardware":[12],"requires":[13],"real-world":[14],"adaptation":[15,27],"to":[16,60,125],"bridge":[17],"the":[18,45,74,159],"embodiment":[19],"gap.":[20],"Since":[21],"robot":[22],"demonstrations":[23,55,117],"are":[24],"costly,":[25],"this":[26,37,66,99],"must":[28],"often":[29],"occur":[30],"under":[31,158],"a":[32,41,69,94,106,112],"strict":[33],"data":[34],"budget.":[35,96,161],"In":[36],"work,":[38],"we":[39,84,101],"identify":[40],"critical":[42],"diversity":[43],"trap:":[44],"standard":[46,154],"heuristic":[47],"of":[48,90],"\"maximizing":[49],"coverage\"":[50],"by":[51,98],"collecting":[52],"diverse,":[53],"single-shot":[54],"can":[56],"be":[57],"self-defeating":[58],"due":[59],"non-vanishing":[61],"estimation":[62,78],"noise.":[63],"We":[64],"formalize":[65],"phenomenon":[67],"as":[68],"Coverage--Density":[70],"Trade-off.":[71],"By":[72],"decomposing":[73],"policy":[75,113],"error":[76,130],"into":[77],"(density)":[79],"and":[80,132,142,150],"extrapolation":[81],"(coverage)":[82],"terms,":[83],"characterize":[85],"an":[86],"interior":[87],"optimal":[88],"allocation":[89],"unique":[91],"conditions":[92],"for":[93],"fixed":[95],"Guided":[97],"analysis,":[100],"propose":[102],"Anchor-Centric":[103],"Adaptation":[104],"(ACA),":[105],"two-stage":[107],"framework":[108,141],"that":[109,144],"first":[110],"stabilizes":[111],"skeleton":[114],"through":[115],"repeated":[116],"at":[118],"core":[119],"anchors,":[120],"then":[121],"selectively":[122],"expands":[123],"coverage":[124],"high-risk":[126],"boundaries":[127],"via":[128],"teacher-forced":[129],"mining":[131],"constrained":[133],"residual":[134],"updates.":[135],"Real-robot":[136],"experiments":[137],"validate":[138],"our":[139],"trade-off":[140],"demonstrate":[143],"ACA":[145],"significantly":[146],"improves":[147],"task":[148],"reliability":[149],"success":[151],"rates":[152],"over":[153],"diverse":[155],"sampling":[156],"strategies":[157],"same":[160]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-12T00:00:00"}