arXiv AI
Sep 21

KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos

KnowDemo is a framework that generates diverse robot demonstrations from human videos by leveraging structured manipulation knowledge. It uses a vision‑language model to extract task requirements and permissible execution variations, then resolves these against target‑scene entities to guide candidate generation and screening before motion planning. The resulting demonstrations feature multimodal behavior, alternative contact strategies, and valid subtask orders, and have been shown to improve planning success and enable sim‑to‑real policy transfer across three tasks.

By Zhiyuan Gao, Yanxiang Zhan, Mohammad Khoshnazar, Jeroen Sch\"afer, Michael Beetz
arXiv AI
Aug 17

AdvDex: Learning Dexterous Manipulation from Human Demonstrations via Joint-Aligned Actions and Adversarial Learning

arXiv:2608. 14028v1 Announce Type: cross Abstract: Dexterous manipulation is a fundamental capability for embodied intelligence, but scaling it remains difficult because robot demonstrations are expensive to collect and action spaces vary across embodiments.

By Zhiyue Zhao, Jingyi Wu, Hairuo Liu, Mingyu Liu, Liyang Li, Hengdi Zhang, Tong He, Zhengxue Cheng