mlsanityData to 13 Oct 2026

CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulation

arXiv 2402.14795 ↗First posted 22 Feb 2024cs.RO cs.CVcited by 25

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

We introduce CyberDemo, a novel approach to robotic imitation learning that leverages simulated human demonstrations for real-world tasks. By incorporating extensive data augmentation in a simulated environment, CyberDemo outperforms traditional in-domain real-world demonstrations when transferred to the real world, handling diverse physical and visual conditions. Regardless of its affordability and convenience in data collection, CyberDemo outperforms baseline methods in terms of success rates across various tasks and exhibits generalizability with previously unseen objects. For example, it can rotate novel tetra-valve and penta-valve, despite human demonstrations only involving tri-valves. Our research demonstrates the significant potential of simulated human demonstrations for real-world dexterous manipulation tasks. More details can be found at https://cyber-demo.github.io

Key facts. Cited by 25 papers in the map (data through 13 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 81 of its 87 references that are in the map. First posted on arXiv 22 Feb 2024.

Builds on

81 of 87 references.

Closest ancestors · 12

Same direction, newest first

  1. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations26 Oct
  2. 2023Imitating Task and Motion Planning with Visuomotor Transformers25 May
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware23 Apr
  4. 2022CACTI: A Framework for Scalable Multi-Task Multi-Scene Visual Imitation Learning12 Dec
  5. 2022Graph Inverse Reinforcement Learning from Diverse Videos28 Jul
  6. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation26 Apr
  7. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation24 Mar
  8. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning4 Feb
  9. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videos12 Aug
  10. 2021XIRL: Cross-embodiment Inverse Reinforcement Learning7 Jun
  11. 2020RetinaGAN: An Object-aware Approach to Sim-to-Real Transfer6 Nov
  12. 2018RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation7 Nov

Other references · 69

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,950
  2. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 30,043
  3. 2014ImageNet Large Scale Visual Recognition Challengecited by 8,476
  4. 2019Momentum Contrast for Unsupervised Visual Representation Learningcited by 7,492
  5. 2021Masked Autoencoders Are Scalable Vision Learnerscited by 7,364
  6. 2021Emerging Properties in Self-Supervised Vision Transformerscited by 6,915
  7. 2015Domain-Adversarial Training of Neural Networkscited by 3,030
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  9. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,028
  10. 2021Ego4D: Around the World in 3,000 Hours of Egocentric Videocited by 1,535
  11. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,411
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38 more
  1. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 857
  2. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 739
  3. 2018AutoAugment: Learning Augmentation Policies from Datacited by 730
  4. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 704
  5. 2019Solving Rubik's Cube with a Robot Handcited by 702
  6. 2022R3M: A Universal Visual Representation for Robot Manipulationcited by 683
  7. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 676
  8. 2017Sim-to-Real Transfer of Robotic Control with Dynamics Randomizationcited by 622
  9. 2021CLIPort: What and Where Pathways for Robotic Manipulationcited by 617
  10. 2022ProgPrompt: Generating Situated Robot Task Plans using Large Language Modelscited by 602
  11. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 588
  12. 2017Time-Contrastive Networks: Self-Supervised Learning from Videocited by 455
  13. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 404
  14. 2020Transporter Networks: Rearranging the Visual World for Robotic Manipulationcited by 342
  15. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 316
  16. 2016Unsupervised Pixel-Level Domain Adaptation with Generative Adversarial Networkscited by 307
  17. 2023Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Modelscited by 268
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  26. 2022DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Realitycited by 137
  27. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 137
  28. 2020Language-Conditioned Imitation Learning for Robot Manipulation Taskscited by 136
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  30. 2021Pretraining Representations for Data-Efficient Reinforcement Learningcited by 105
  31. 2023GenAug: Retargeting behaviors to unseen situations via Generative Augmentationcited by 104
  32. 2022In-Hand Object Rotation via Rapid Motor Adaptationcited by 103
  33. 2022VideoDex: Learning Dexterity from Internet Videoscited by 101
  34. 2018Playing hard exploration games by watching YouTubecited by 98
  35. 2022Visual Dexterity: In-Hand Reorientation of Novel and Complex Object Shapescited by 93
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  38. 2021RRL: Resnet as representation for Reinforcement Learningcited by 89

50 most cited of 69 All 69 (JSON)

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Cited by year (2026 to 13 Oct)

Citing papers per year: 2024: 9; 2025: 10; 2026: 6.

25 papers.

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  1. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 138
  2. 20243D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensingcited by 71
  3. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 57
  4. 2024TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correctioncited by 50
  5. 2024Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learningcited by 37
  6. 2024ViViDex: Learning Vision-based Dexterous Manipulation from Human Videoscited by 33
  7. 2026RoboClaw: An Agentic Framework for Scalable Long-Horizon Robotic Taskscited by 32
  8. 2024BimArt: A Unified Approach for the Synthesis of 3D Bimanual Interaction with Articulated Objectscited by 30
  9. 2024Lessons from Learning to Spin "Pens"cited by 22
  10. 2025Dexterous Manipulation through Imitation Learning: A Surveycited by 20
  11. 2025AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletonscited by 17
  12. 2025Empirical Analysis of Sim-and-Real Cotraining of Diffusion Policies for Planar Pushing from Pixelscited by 13
13 more
  1. 2025EMMA: Generalizing Real-World Robot Manipulation via Generative Visual Transfercited by 12
  2. 2025Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robotscited by 11
  3. 2025LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrationscited by 3
  4. 2024Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Handcited by 2
  5. 2025DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulationcited by 2
  6. 2026FAR-Dex: Few-shot Data Augmentation and Adaptive Residual Policy Refinement for Dexterous Manipulationcited by 2
  7. 2025TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperationcited by 1
  8. 2024VITAL: Interactive Few-Shot Imitation Learning via Visual Human-in-the-Loop Correctionscited by 0
  9. 2025RoboPearls: Editable Video Simulation for Robot Manipulationcited by 0
  10. 2026Easy-IIL: Reducing Human Operational Burden in Interactive Imitation Learning via Assistant Expertscited by 0
  11. 2026One-to-Two Acting: A Novel Framework for Single-arm Agent Action Expansion to Dual Armscited by 0
  12. 2026MinInter: Minimizing Trajectory Interpolation During Data Augmentation for Imitation Learningcited by 0
  13. 2026DCGrasp: Distance-aware Controllable Grasp Generationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
  2. 2026EaDex: A Cross-Embodiment Dexterous Manipulation Framework from Low-Cost Demonstrations
  3. 2025Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
  4. 2025Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration
  5. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges
  6. 2026Scaling Single Human Demonstrations for Imitation Learning using Generative Foundational Models
  7. 2024AdaDemo: Data-Efficient Demonstration Expansion for Generalist Robotic Agent
  8. 2024Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation