Author

Weihao Yuan

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Jul 2026

Data Pyramid for Embodied Manipulation

This work organizes the embodied data ecosystem as a pyramidspanning five complementary sources: real-robot data, UMI-style data, egocentric and exocentric data, simulation data, and general vision-language data, and further characterize each source in terms of data quality, diversity, reusability, and physical fidelity.

Yifan Ye, Yankai Fu, Ya-hui Lv et al. · arXiv.org · 3 citations