[Submitted on 25 Jul 2026]
Title:The Curse of Precision: A Data Scaling Law for High-Precision Robotic Manipulation
View a PDF of the paper titled The Curse of Precision: A Data Scaling Law for High-Precision Robotic Manipulation, by Cuijie Xu and 7 other authors
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Abstract:While scaling laws for imitation learning have primarily focused on generalization in open-world settings, the relationship between data and precision in closed-world tasks like robotic assembly remains largely unexplored. This paper systematically investigates this relationship and introduces a novel scaling law. We find that to achieve a fixed success rate, the required number of demonstrations $N$ grows super-exponentially as the target precision $P$ approaches a limit $c$. This relationship is accurately captured by the model $\log(N) \propto 1/(P-c)$. Crucially, we reveal that the limit precision $c$ is not a static physical constant of the task but an emergent property of the entire agent system, including its sensors and expert policy. Through experiments on canonical manipulation tasks, we validate this law and demonstrate that improving system components, such as adding a wrist camera or using a more effective expert, measurably lowers $c$, thus expanding the system's achievable precision. Our work provides a new theoretical framework for precision in robotics and a quantitative metric to evaluate system capabilities. Furthermore, these findings provide a practical methodology for guiding the development and debugging of high-precision manipulation systems.
Comments: 8 pages, 4 figures. Accepted to the 2026 IEEE International Conference on Robotics and Automation (ICRA 2026)
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.23108 [cs.RO]
(or arXiv:2607.23108v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.23108
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Cuijie Xu [view email] [v1] Sat, 25 Jul 2026 08:41:52 UTC (3,893 KB)
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