Translation as a Bridging Action: Transferring Manipulation Skills from Humans to Robots

arXiv:2606.28133v1 Announce Type: new Abstract: We study whether we can learn novel manipulation skills from human actions to a bi-manual robot with parallel grippers. Human action data is cheap, abundant, and diverse, making it one of the most promising resources for scaling up robot learning. Yet transferring skills from humans to robots remains hard: most prior work treats humans as just another bi-manual 6DoF embodiment, where hand-pose estimates are noisy and the contact patterns of human f...