{"paper":{"title":"DemoBridge: A Simulation-in-the-Loop Toolkit for Single-View Human Demonstration Retargeting","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fabien Despinoy, Rahaf Aljundi, Sergey Zakharov, Tinne Tuytelaars, Zehao Wang","submitted_at":"2026-07-10T15:31:04Z","abstract_excerpt":"We present DemoBridge, an toolkit that turns a single-view RGB stereo recording of a human hand demonstration into an executable, physics-validated robot-arm trajectory. Retargeting across the embodiment gap is hard. A robot arm reaches a target with a long, articulated body whose links carry far more collision volume than a hand. Solving inverse kinematics for the mapped end-effector pose often yields no collision-free solution, and a trajectory imposes this at every waypoint. A single view adds noise, leaving the demonstrated reference inaccurate. At the core of DemoBridge is a single collis"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.09519","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/2607.09519/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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"}