2 papers
cs.RO2026
Real2Sem2Real: 3D Semantic Augmentations for Robot Learning from a Single Human RGB Demonstration
Matthew Strong, Ankush K. Dhawan, Julien Poffet +3
Human video scales easily and does not need robot hardware, but existing methods require depth sensing, overlay the robot onto 2D video, or generate data only for the demonstrated…
cs.RO2026
VisTacAlign: Co-Training Dexterous Policies on Tactile Human and Robot Demonstrations using Visual-Tactile Alignment
Julien Poffet, Matthew Strong, Ankush Dhawan +5
Human demonstrations are a cheap source of data for dexterous manipulation, but co-training a robot policy on them requires closing the human--robot gap in every modality the polic…