We fine-tuned the same policy twice on GigaBrain-0.7 Sample, once on the release as published and once with 234 episodes removed, and the edited run scored 37.0% against 31.8%, a gain of 5.2 points over 1,200 rollouts.
A same-size random cut scored 32.0%, so the gain is from which episodes were removed, not from removing episodes.
The blue button task gains most, and two of the woven basket tasks barely move. The pooled lift clears zero, most single tasks at 120 rollouts do not, and the chart says so.
Measured on the release, every episode was scored on how much of its own action head is a constant, meaning a commanded dimension whose value spans under 1e-3 rad from the episode's first frame to its last. 6 of the 25 action dimensions never move across any of the 163,819 push button frames, three of them holding exactly one value, and 2 of 16 never move across all 445,096 pick and place frames, so a floor is baked into the release before any episode is scored. On top of that floor, 105 of the 360 push button episodes hold the entire right arm constant from first frame to last, and none hold the left arm constant, under one instruction per subset that never says which arm to use. The cut removes the 234 episodes that sit above their own subset's median, which is 4 or more constant dimensions of 16 for the agilex robot and 17 of 25 for the h01.
| Removed | episodes | action head constant |
|---|---|---|
| push button, seven or eight right arm channels constant for the entire episode | 104 | 17 of 25 |
| pick and place, the left waist and the left gripper never move | 120 | 4 of 16 |
| pick and place, a waist joint and a gripper never move | 9 | 4 of 16 |
| pick and place, six of the seven left arm channels never move | 1 | 8 of 16 |
| Removed | 234 | 108,633 frames |
| Kept | 1,138 | 500,282 frames |
Measured on the release. Each clip is the window the episode occupies inside its packed mp4, read from the from_timestamp column of meta/episodes. The number in every caption is how many of that episode's own action dimensions hold a single value from its first frame to its last.