arxivcs.ROcs.AI2026-06-27
Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planning
Shuo Cheng, Chuye Zhang, Alfred Cueva, Caelan Garrett, Ajay Mandlekar, Danfei Xu
Human videos are a scalable source of supervision for robot manipulation, as they are abundant and naturally capture rich object interactions. However, transferring human demonstrations to robots remains challenging due to embodiment mismatch, scene variation, and robot-specific…