H2R-Bench: Benchmarking Human-to-Robot Manipulation Video Generation in World Models
Large-scale manipulation data is essential for robot learning, yet collecting robot demonstrations remains expensive and difficult to scale. Meanwhile, abundant egocentric human manipulation videos provide rich behavioral experiences, but transferring them across embodiments remains challenging due to differences between human hands and robotic end-effectors. Recent advances in video world models offer a promising pathway to synthesize robot-centric manipulation videos from human observations, while their cross-embodiment transfer capability remains largely unexplored. Therefore, we introduce H2R-Bench, a benchmark for evaluating cross-embodiment human-to-robot manipulation video generati...
| Authors | Dingyi Rong, Yue Shi, Chaofan Ma et al. |
|---|---|
| Primary category | cs.RO |
| Published | 13 August 2026 |
| Last updated at source | 13 August 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.