Axis shows that better robot data matters more than just more data. As Axis dataset size grows, performance keeps improving, especially in camera and layout robustness. The results suggest diverse tasks, scenes, and augmentations help robots generalize better, not just memorize.
In our conference submission, we evaluate AXIS as a growable data engine for robot manipulation through three questions:
1. Does AXIS pretraining improve π0.5 on downstream LIBERO-Plus robustness tasks, beyond a matched-volume baseline?
2. Does the gain scale with AXIS data volume, from 25% to 50% to 100% of data volume?
3. Which perturbation axes benefit the most, and do they match the diversity targeted by our augmentation pipeline?
Here, “AXIS” refers to our growable manipulation dataset snapshot built around a Franka Research 3 robot: 207 tabletop tasks across 7 scene categories, 50k human demonstrations, and 60k task/scene variants produced through cleaning and semantic-preserving augmentation.
Findings below 🧵