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2026-03-08 06:03:58
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Structured World Models from Human Videos Structured World Models from Human Videos Russell Mendonca * 1 Shikhar Bahl * 1,2 Deepak Pathak 1 Carnegie Mellon University RSS 2023 Paper arXiv Talk We present SWIM, an approach for learning manipulation tasks in the real world with only a handful of trajectories and only 30 min of real-world sampling Abstract In this paper, we tackle the problem of learning complex, general behaviors directly in the real world. We propose an approach for robots to efficiently learn manipulation skills using only a handful of real-world interaction trajectories from many different settings. Inspired by the success of learning from large-scale datasets in the fields of computer vision and natural language, our belief is that in order to efficiently learn, a robot must be able to leverage internet-scale, human video data. Humans interact with the world in many interesting ways, which can allow a ro...
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