A three-stage retrieval system selects roughly 1.5 million task-relevant human egocentric clips and uses them to raise a dexterous manipulation VLA's success rate from 47.7% to 61.1%, beating equal-size random sampling.
Human-to-robot imitation in the wild
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SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
A three-stage retrieval system selects roughly 1.5 million task-relevant human egocentric clips and uses them to raise a dexterous manipulation VLA's success rate from 47.7% to 61.1%, beating equal-size random sampling.