Call me crazy but sometimes I still find a better solution on StackOverflow than what Claude Code insists to do. I'm not sure we're better off without SO in the long run.
Much of what Claude insists you do probably came from SO.
In robotics there is no free lunch dataset. You'll have to gather it yourself, but if you do that, you run into an obvious problem: labeling.
With SO, you literally have the best possible scenario, because the data is clearly structured and separated into prompt and answer (aka label).
Your objective function is literally "Say what he said".