From one piece Chelsea Finn: This is the State of the Art in Robotics 2 beliefs, in the piece's order there
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Their words
Um, and while this generally improves the reliability of the model, uh, people eventually get tired and it's hard to get really, really high reliability with a person that's manually tuning this. And so what would be even better is if the AI system itself can iterate on the scenario in which you want it to have higher reliability where it on its own automatically seeks out places where it needs more data, where it needs more supervision.
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Their words
I mean at the very least I actually think that just starting with a generalist policy and then fine-tuning it even like right off the bat uh can be really effective.