KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos
Learning robot manipulation policies typically requires substantial demonstration data, which are costly to collect on real robots. Recent methods generate robot demonstrations from human videos by adapting recovered motion and validating the resulting trajectories in simulation. However, methods centered on motion-reference adaptation can limit behavioral diversity by retaining the demonstrated contact strategies and subtask orders, while insufficient understanding of task requirements and scene relations can reduce demonstration generation efficiency by generating invalid candidates. To address these limitations, we propose KnowDemo, a framework that uses structured manipulation knowled...
| Authors | Zhiyuan Gao, Yanxiang Zhan, Mohammad Khoshnazar et al. |
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| Primary category | cs.RO |
| Published | 18 September 2026 |
| Last updated at source | 18 September 2026 |
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