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

KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos

Read the original on arXiv AI →

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.

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