Skel-WAM: A Hand-Skeleton-Conditioned World Action Model for Human-to-Robot Manipulation Transfer

arXiv:2609.21514 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Project page: https://healorcai.github.io/Skel-WAM

Terminology

• Alignment — 9× in this paper · explained in 1 episode
• Generalization — 7× in this paper · explained in 13 episodes
• World Model — 7× in this paper · explained in 7 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Success Rate — 5× in this paper
• Transformer — 5× in this paper · explained in 2 episodes
• Action Space — 3× in this paper · explained in 1 episode
• Decode — 3× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes
• Progress Success Rate — 1× in this paper

Sources

• EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos
• Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videos
• H2R: A Human-to-Robot Data Augmentation for Robot Pre-training from Videos
• EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations
• Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data
• HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing
• EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
• Emergence of Human to Robot Transfer in Vision-Language-Action Models
• Ego-Pi: VLA Fine-Tuning for Ego-Centric Human and Robot Data
• EgoSteer: An Open-Source Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos
• HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos
• Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations
• Robots Acquire Manipulation Skills in Seconds from a Single Human Video
• FlowWAM: Optical Flow as a Unified Action Representation for World Action Models
• MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models
• Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
• World Models for Learning Dexterous Hand-Object Interactions from Human Videos
• OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

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