Cross-Embodiment Causal Transfer from Human Videos to Robot Manipulation
Scaling robot manipulation models requires large amounts of interaction data, yet collecting diverse real-robot experience remains costly. Human manipulation videos, in contrast, provide abundant and diverse task experience that could potentially benefit robot learning. However, differences in morphology, action spaces, and control mechanisms make human motions unsuitable as direct supervision for robot actions, raising a scientific question: what knowledge in human videos should be transferred across embodiments to robot manipulation? To address this question, we analyze subtask transfer through the lens of causal beams, focusing on which contextual conditions and interaction dependencie...
| Authors | Xingyu Zhang, Yingchao Li, Peizheng Guo et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
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