When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning

arXiv:2607.25593v1 Announce Type: new Abstract: Robotic hardware evolves over time, but demonstration data is often tied to a specific sensor and actuator configuration. This raises a practical and underexplored question: when does legacy data begin to benefit an upgraded robot? We study this question on a wheeled humanoid platform across two hardware generations, where both the camera and gripper are changed while the overall morphology remains fixed. Contrary to the common assumption that more...