How should we quantify the value of each training example when datasets are large, heterogeneous, and geometrically structured? Classical Data-Shapley answers in principle, but its O(n!) complexity and point-wise perspective are ill-suited to modern scales. We propose Hierarchical Contrastive Data Valuation (HCDV), a three-stage framework that (i) learns a contrastive, geometry-preserving representation, (ii) organizes the data into a balanced coarse-to-fine hierarchy of clusters, and (iii) assigns Shapley-style pay-offs to coalitions via local Monte-Carlo games whose budgets are propagated downward. HCDV collapses the factorial burden to O(T∑ℓKℓ) = O(TKmax log n), rewards examples that sharpen decision boundaries, and regularizes outliers through curvature-based smoothness. We prove that HCDV approximately satisfies the four Shapley axioms with surplus loss O(η log n), enjoys sub-Gaussian coalition deviation Õ(1/√T), and incurs at most kε∞ regret for top-k selection. Experiments on four benchmarks — tabular, vision, streaming, and a 45 M-sample CTR task — plus the OpenDataVal suite show that HCDV lifts accuracy by up to +5 pp, slashes valuation time by up to 100×, and directly supports tasks such as augmentation filtering, low-latency streaming updates, and fair marketplace payouts.

Heavy-duty glass installation is a high-risk, precision-critical task in modern construction, traditionally performed through labor-intensive and error-prone manual methods. This paper presents a novel robotic framework that leverages diffusion-based self-supervised imitation learning from imperfect visual servoing demonstrations to achieve safe and precise glass installation. Specifically, our approach employs noisy and suboptimal demonstration data obtained via visual servoing to train a Denoising Diffusion Probabilistic Model (DDPM). This model iteratively refines installation trajectories, transforming them into smooth, precise, and collisionfree movements. Extensive experiments demonstrate that our method significantly surpasses conventional visual servoing and standard imitation learning baselines in terms of success rate, precision, and installation efficiency, while markedly improving operational safety. Our results establish a new benchmark for automating complex, high-risk tasks in construction robotics.