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[Submitted on 20 Oct 2026] Title:Real2Sem2Real: 3D Semantic Augmentations for Robot Learning from a Single Human RGB Demonstration View a PDF of the paper titled Real2Sem2Real: 3D Semantic Augmentations for Robot Learning from a Single Human RGB Demonstration, by Matthew Strong and 5 other authors View PDF HTML (experimental) Abstract:Human video scales easily and does not need robot hardware, but existing methods require depth sensing, overlay the robot onto 2D video, or generate data only for the demonstrated objects. We present Real2Sem2Real (R2Sem2R), a real-to-semantic-to-real pipeline that turns one monocular RGB video of a human demonstration into thousands of robot demonstrations across the semantic object instances of a category. R2Sem2R tracks the SE(3) pose of each object with DINOv3-distilled Gaussian splats, outperforming existing methods and FoundationPose with estimated metric depth. R2Sem2R then aligns digital cousins, each generated from one or a few photographs, to the demonstrated objects with a semantic alignment. This alignment matches whole objects and the functional regions of target objects, such as a coffee machine's tray. R2Sem2R maps the human hand to a feasible robot grasp that extends to the cousins. Robot demonstrations are generated either in IsaacSim, for photorealistic rendering, or MuJoCo, for contact physics, and R2Sem2R can generate over 2,000 episodes in about two hours. On two real robots and four tasks, we train a vision-language-action policy on data from one human video per task, and policies trained on our data match or exceed policies trained on teleoperation across diverse object instances. The project page is available at this https URL. Comments: Matthew Strong and Ankush K. Dhawan contributed equally. Project page: this https URL Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2610.28880 [cs.RO] (or arXiv:2610.28880v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.28880 arXiv-issued DOI via DataCite (pending registration) Submission history From: Matthew Strong [view email] [v1] Tue, 20 Oct 2026 19:59:24 UTC (3,654 KB) Full-text links: Access Paper: View a PDF of the paper titled Real2Sem2Real: 3D Semantic Augmentations for Robot Learning from a Single Human RGB Demonstration, by Matthew Strong and 5 other authors View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs cs.CV References & Citations SciX Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)