One Sentence: 

Two operators during the data collection, one for tele-operating, and one for adversarial attack. The resulting data will help the model's generalization and robustness!

TL;DR.

The ADC framework is a human-in-the-loop (two operators rather one) approach that compresses diverse task variations, failure-recovery behaviors, and environmental perturbations into minimal yet highly informative demonstrations. By dynamically perturbing object states, environments, and commands in real-time, ADC enables models trained with as little as 20% of the demonstration volume to outperform those built on full traditional datasets.

Abstract: The pursuit of data efficiency, where quality outweighs quantity, has emerged as a cornerstone in robotic manipulation, especially given the high costs associated with real-world data collection. We propose that maximizing the informational density of individual demonstrations can dramatically reduce reliance on large-scale datasets while improving task performance. To this end, we introduce Adversarial Data Collection(ADC), a Human-in-the-Loop (HiL) framework that redefines robotic data acquisition through real-time, bidirectional human-environment interactions. Unlike conventional pipelines that passively record static demonstrations, ADC adopts a collaborative perturbation paradigm: during a single episode, an adversarial operator dynamically alters object states, environmental conditions, and linguistic commands, while the tele-operator adaptively adjusts actions to overcome these evolving challenges. This process compresses diverse failure-recovery behaviors, compositional task variations, and environmental perturbations into minimal demonstrations. Our experiments demonstrate that ADC-trained models achieve superior compositional generalization to unseen task instructions, enhanced robustness to perceptual perturbations, and emergent error recovery capabilities. Strikingly, models trained with merely 20\% of the demonstration volume collected through ADC significantly outperform traditional approaches using full datasets. These advances bridge the gap between data-centric learning paradigms and practical robotic deployment, demonstrating that strategic data acquisition, not merely post-hoc processing, is critical for scalable, real-world robot learning. 

 Additionally, we are curating a large-scale ADC-Robotics dataset comprising real-world manipulation tasks with adversarial perturbations. This benchmark will be open-sourced to facilitate advancements in robotic imitation learning.

Robustness Against Sensor Failure

We thought that robustness comes from both the superior attention concentration and more complete object coverness during the data collection which are brought by our ADC data collection process.