humanoid learning from human videoExpert
KODA: Kinematics--Observation Data Alignment for Humanoid Learning from Human Egocentric Demonstration
This preprint turns videos people film with a chest-mounted iPhone into training data a Unitree G1 humanoid can learn from, including what the robot's own camera would have seen. Adding 100 converted human clips per task to 50 robot demonstrations raised success on unseen object setups by about 45 percentage points.