1st ICRA Workshop on "Beyond Teloperation: Learning from Diverse Human and Simulation Data"

Accepted papers (29)

Fetched from OpenReview (v2) on 2026-06-10.

1. ☆CRAFT: Video Diffusion for Bimanual Robot Data Generation

   Jason Chen, I-Chun Arthur Liu, Gaurav S. Sukhatme, Daniel Seita · PDF

2. ☆DemoDiffusion: One-Shot Human Imitation using pre-trained Diffusion Policy

   Sungjae Park, Homanga Bharadhwaj, Shubham Tulsiani · PDF

3. ☆Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulation

   Yuxuan Kuang, Sungjae Park, Katerina Fragkiadaki, Shubham Tulsiani · PDF

4. ☆Dream2Flow: Bridging Video Generation and Open-World Manipulation with 3D Object Flow

   Karthik Dharmarajan, Wenlong Huang, Jiajun Wu, Li Fei-Fei, Ruohan Zhang · PDF

5. ☆Few-Shot Learning of Tool-Use Skills with Proximity and Tactile Sensing

   Marina Y. Aoyama, Sethu Vijayakumar, Tetsuya Narita · PDF

6. ☆HOMimic: Distilling Manipulation Trajectories from Human Videos via Multi-Stage Interaction Reasoning and Taxonomy-Aware Retargeting

   Zicheng Guo, Yitian Shi, Yu Hu, Zhengqi Han, Di Wen, Rania Rayyes · PDF

7. ☆Humanoid Bimanual Dexterous Manipulation Driven by Egocentric Video

   Hao Huang, Geeta Chandra Raju Bethala, Wentian Zhao, Shuaihang Yuan, Congcong Wen, Mengyu Wang, Anthony Tzes, Yi Fang · PDF

8. ☆HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning and Adaptation

   Kevin Lin, Ajay Mandlekar, Caelan Reed Garrett, Nikita Chernyadev, Yu Fang, Runyu Ding, Yuqi Xie, Linxi Fan, Yuke Zhu · PDF

9. ☆IFG: Internet-Scale Guidance for Functional Grasping Generation

   Muxin Liu, Mingxuan Li, Kenneth Shaw, Deepak Pathak · PDF

10. ☆Learning Quadruped Locomotion from Casual Videos

    Oliver Hausdörfer, Alexander von Rohr, Filip Skubacz, Shafeef Omar, Majid Khadiv, SiQi Zhou, Angela P. Schoellig · PDF

11. ☆Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data

    Gina Wigginghaus, Tim Missal, Berk Güler, Simon Manschitz, Jan Peters · PDF

12. ☆Learning Structured Policies for General Humanoid Loco-Manipulation

    Shafeef Omar, Sebastian Sanokowski, Cordelia Schmid, Majid Khadiv · PDF

13. ☆Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking

    Zewei Zhang, Kehan Wen, Michael Xu, Junzhe He, Chenhao Li, Takahiro Miki, Clemens Schwarke, Chong Zhang, Xue Bin Peng, Marco Hutter · PDF

14. ☆MobileEgo Anywhere: Open Infrastructure for long horizon egocentric data on commodity hardware

    Senthil Palanisamy, Satpal Singh Rathore, Abhishek Anand, Pratyush Kumar Patnaik, Shubhanshu Khatana, Ekaksh Janweja · PDF

15. ☆MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation

    Abhay Deshpande, Maya Guru, Rose Hendrix, Snehal Jauhri, Ainaz Eftekhar, Rohun Tripathi, Max Argus, Jordi Salvador, Haoquan Fang, Matthew Wallingford, Wilbert Pumacay, Yejin Kim, Quinn Pfeifer, Ying-Chun Lee, Piper Wolters, Omar Rayyan, Mingtong Zhang, Jiafei Duan, Karen Farley, Winson Han, Eli VanderBilt, Dieter Fox, Ali Farhadi, Georgia Chalvatzaki, Dhruv Shah, Ranjay Krishna · PDF

16. ☆MotionTrans: Human VR Data Enable Motion-Level Learning for Robotic Manipulation Policies

    Chengbo Yuan, Rui Zhou, Mengzhen Liu, Yingdong Hu, Shengjie Wang, Li Yi, Chuan Wen, Shanghang Zhang, Yang Gao · PDF

17. ☆Object-Centric Reward Learning from Action-Free Videos for Long-Horizon Manipulation Beyond Teleoperation

    Andrea Protopapa, Giuseppe Averta, Francesca Pistilli, Davide Buoso · PDF

18. ☆One-Shot Learning of Manipulation from RGB-D Videos via Object-Centric Interaction Reasoning

    Ze Fu, Pinhao Song, Yutong Hu, Renaud Detry · PDF

19. ☆Overcoming Distribution Shifts with Autonomous Embodied Data Collection

    Pengyu Mo, Saimai Lau, Jensen Gao, Dorsa Sadigh, Jennifer Grannen · PDF

20. ☆PHABS: A Handheld Haptic Device for Force-Annotated Bimanual Demonstration Data

    Calvin Joyce, Michael C. Yip · PDF

21. ☆Point Bridge: 3D Representations for Cross Domain Policy Learning

    Siddhant Haldar, Lars Johannsmeier, Lerrel Pinto, Abhishek Gupta, Dieter Fox, Yashraj Narang, Ajay Mandlekar · PDF

22. ☆Reconstructing Hand-Held Objects in 3D from Images and Videos

    Jane Wu, Georgios Pavlakos, Georgia Gkioxari, Jitendra Malik · PDF

23. ☆Semantic–Geometric Task Representations for Bimanual Manipulation from Human Demonstrations to Robot Action Planning

    Franziska Herbert, Vignesh Prasad, Han Liu, Georgia Chalvatzaki · PDF

24. ☆Tune to Learn: How Controller Gains Affect Robot Policy Learning

    Antonia Bronars, Younghyo Park, Pulkit Agrawal · PDF

25. ☆UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

    Hyesung Lee, Si-Hwan Heo, Sungwook Yang · PDF

26. ☆UniLatent: Cross-Embodiment Transfer via Latent Observation Alignment

    Yufei Ding, Yi Du, Weiduo Yuan, Hao Jiang, Dylan Goetting, Lawrence Yunliang Chen, Daniel Seita, Yue Wang · PDF

27. ☆Whole-Body Mobile Manipulation using Offline Reinforcement Learning on Sub-optimal Controllers

    Snehal Jauhri, Vignesh Prasad, Georgia Chalvatzaki · PDF

28. ☆X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations

    Maximus Adrian Pace, Prithwish Dan, Chuanruo Ning, Atiksh Bhardwaj, Audrey Du, Edward Duan, Wei-Chiu Ma, Kushal Kedia · PDF

29. ☆YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale

    Takehiko Ohkawa, Jumpei Arima, Yuki Noguchi, Masatoshi Tateno, Makoto Sugiura, Takuya Okubo, Yuki Wakayama, Naoaki Kanazawa, Tatsuya Matsushima, Yohishiro Okumatsu, Kei Ota · PDF