Robots Acquire Manipulation Skills in Seconds from a Single Human Video
- Published
- Source
- arXiv
- Paper number
- 692
- Field
- Robotics
- arXiv ID
- 2607.20033
Key points
- We learn a new skill from a single human video in an average of 29 seconds, which is 507x faster than before.
- It reaches a 62% average success rate, 45 points above zero-shot and even higher than the baseline fine-tuned with 50 robot demonstrations.
- It preserves existing skills at 100% because it does not modify the learned parameters, eliminating catastrophic forgetting.
- It resolves temporal misalignment and state mismatch by aligning video and robot trajectories through a task-progress manifold.
- It implements inference-time adaptation through a causal cascade of localization, future observation prediction, and action generation.
Paper links
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