Preprint
Oct 2026
Real2Sem2Real: 3D Semantic Augmentations for Robot Learning from a Single Human RGB Demonstration
Human video scales easily and does not need robot hardware, but existing methods require depth sensing, overlay the robot onto 2D video, or generate data only for the demonstrated objects. We present Real2Sem2Real (R2Sem2R), a real-to-semantic-to-real pipeline that turns one monocular RGB video of a human demonstration...
M. Strong, Ankush Dhawan, J. Poffet et al.
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