[2606.02745] SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos
[Submitted on 1 Jun 2026]
Title:SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos
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Abstract:Vision-language-action models (VLAs) are promising general-purpose robot policies, but adapting them to new tasks typically requires costly task-specific teleoperation data. As an alternative, we study one-shot demo-conditioned VLAs, where a robot policy is conditioned on a single demonstration video of an unseen task. We find that existing end-to-end approaches often struggle when successful execution requires precisely localizing small target regions. To address this limitation, we propose SeeTraceAct, a demo-conditioned VLA framework that encourages precise spatial grounding through visibility-aware prediction of future end-effector traces. To enable reproducible evaluation with cross-embodiment demonstrations, we introduce and release RoboCasa-DC, a demo-conditioned extension of RoboCasa with episode-paired humanoid videos. Experiments on RoboCasa-DC and a real-world benchmark, where a Franka Panda arm is conditioned on human demonstrations, show that SeeTraceAct outperforms baselines, achieving the best success rate across all four RoboCasa-DC settings and improving real-world average success by 12.5 percentage points.
Subjects:
Robotics (cs.RO); Machine Learning (cs.LG)
Cite as: arXiv:2606.02745 [cs.RO]
(or arXiv:2606.02745v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.02745
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Jaehyeon Son [view email] [v1] Mon, 1 Jun 2026 18:09:31 UTC (1,637 KB)
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