Data Pyramid for Embodied Manipulation: A Survey
Multimodal foundation models learned to see and to speak by consuming the whole internet. Embodied agents admit no such shortcut, since they require data that couple observations with physical states and actions. These signals can be provided, to varying degrees, by multiple data sources. In this work, we organize the embodied data ecosystem as a "pyramid" spanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-language data. We organize the pyramid around the tension between scalability and robot alignment, and further characterize each source in terms of data quality, diversity, reusability, and physical f...
| Authors | Yifan Ye, Yankai Fu, Yaoxu Lv et al. |
|---|---|
| Primary category | cs.RO |
| Published | 27 July 2026 |
| Last updated at source | 8 August 2026 |
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