From Gameplay to Policy: Towards Scalable Robot Data Collection via Gamified Robot-Free Interaction

arXiv:2609.18650 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Affordance — 42× in this paper · explained in 1 episode
• Ablation — 3× in this paper · explained in 1 episode
• Abstraction — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Cognitive Load — 3× in this paper · explained in 2 episodes
• Transferability — 3× in this paper · explained in 4 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Universal Manipulation Interface — 2× in this paper
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• AI Literacy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Explainability — 1× in this paper · explained in 3 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Robustness — 1× in this paper · explained in 5 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• OmniDP: Beyond-FOV Large-Workspace Humanoid Manipulation with Omnidirectional 3D Perception
• YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
• Data Pyramid for Embodied Manipulation: A Survey
• HyperSim: A Holistic Sim-To-Real Framework For Robust Robotic Manipulation
• Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
• From Human Videos to Robot Manipulation: A Survey on Scalable Vision-Language-Action Learning with Human-Centric Data
• RoboCade: Gamifying Robot Data Collection
• DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
• NVIDIA Isaac Sim: Enabling Scalable, GPU-Accelerated Simulation for Robotics
• ConLA: Contrastive Latent Action Learning from Human Videos for Robotic Manipulation
• MimicPlay: Long-Horizon Imitation Learning by Watching Human Play
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics

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