arXiv:2508. 08983v2 Announce Type: replace-cross Abstract: Humans can learn a new manipulation task from one or two demonstrations and then perform it in a new room, with new objects, under new constraints.
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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.
arXiv:2607. 05377v1 Announce Type: cross Abstract: While recent Vision-Language-Action (VLA) models show promise toward generalist manipulation policies, they struggle with long-horizon tasks due to their Markovian nature-relying solely on current observations.
arXiv:2607. 17760v1 Announce Type: cross Abstract: Inverse reinforcement learning (IRL) provides a powerful framework for learning from demonstrations.
arXiv:2510. 14828v3 Announce Type: replace Abstract: Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex human instructions in long-view manipulation tasks successfully.
Inverse reinforcement learning (IRL) provides a powerful framework for learning from demonstrations. However, real-world tasks often exhibit substantial natural variations (e.
arXiv:2601. 11460v2 Announce Type: replace-cross Abstract: Learning structured task representations from human demonstrations is essential for bimanual manipulation, where action ordering, object involvement, and interaction geometry vary significantly across executions.