{"paper":{"title":"How to Instruct Your Robot: Dense Language Annotations Power Robot Policy Learning","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Alexander Trevithick, Bosung Kim, Brandon Cui, David Acuna, Jaehun Jung, Prithviraj Ammanabrolu, Ruiyi Wang, Yejin Choi","submitted_at":"2026-05-16T16:52:08Z","abstract_excerpt":"Scaling robot policy learning is bottlenecked by the cost of collecting demonstrations, while language annotations for existing demonstrations are comparatively cheap. We study language density as a lever for extracting more signal from a fixed robot or egocentric-video corpus. We introduce DeMiAn (Dense Multi-aspect Annotation), a two-stage approach that first re-labels demonstration segments with VLM-generated annotations along four complementary aspects: physical motion, scene composition, arm pose, and reasoning. A learned instructor then maps a task description and initial scene snapshot "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17077","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.17077/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T22:33:23.810245Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T22:21:57.747581Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"ab642f6e85a451e8c84ad2eefc9179d8813be331e533d1b64d23a07d9306b3aa"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}