mlsanityData to 7 Oct 2026

RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning

arXiv 2409.03403 ↗First posted 5 Sep 2024cs.ROcited by 46

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Abstract (arXiv)

Scaling up robot learning requires large and diverse datasets, and how to efficiently reuse collected data and transfer policies to new embodiments remains an open question. Emerging research such as the Open-X Embodiment (OXE) project has shown promise in leveraging skills by combining datasets including different robots. However, imbalances in the distribution of robot types and camera angles in many datasets make policies prone to overfit. To mitigate this issue, we propose RoVi-Aug, which leverages state-of-the-art image-to-image generative models to augment robot data by synthesizing demonstrations with different robots and camera views. Through extensive physical experiments, we show that, by training on robot- and viewpoint-augmented data, RoVi-Aug can zero-shot deploy on an unseen robot with significantly different camera angles. Compared to test-time adaptation algorithms such as Mirage, RoVi-Aug requires no extra processing at test time, does not assume known camera angles, and allows policy fine-tuning. Moreover, by co-training on both the original and augmented robot datasets, RoVi-Aug can learn multi-robot and multi-task policies, enabling more efficient transfer between robots and skills and improving success rates by up to 30%. Project website: https://rovi-aug.github.io.

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). First posted on arXiv 5 Sep 2024.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 6; 2025: 22; 2026: 18.

46 papers.

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  1. 2025EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Videocited by 191
  2. 2025DreamGen: Unlocking Generalization in Robot Learning through Video World Modelscited by 168
  3. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 104
  4. 2025OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interactioncited by 57
  5. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 39
  6. 2024Run-time Observation Interventions Make Vision-Language-Action Models More Visually Robustcited by 33
  7. 2025Shortcut Learning in Generalist Robot Policies: The Role of Dataset Diversity and Fragmentationcited by 31
  8. 2025ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesiscited by 22
  9. 2024Neural Fields in Robotics: A Surveycited by 21
  10. 2025Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimizationcited by 20
  11. 2025AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletonscited by 17
  12. 2025Adapt3R: Adaptive 3D Scene Representation for Domain Transfer in Imitation Learningcited by 16
34 more
  1. 2024The One RING: a Robotic Indoor Navigation Generalistcited by 15
  2. 2025Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioningcited by 14
  3. 2026AnyView: Synthesizing Any Novel View in Dynamic Scenescited by 12
  4. 2025EmbodiedSplat: Personalized Real-to-Sim-to-Real Navigation with Gaussian Splats from a Mobile Devicecited by 11
  5. 2026MVP-LAM: Learning Action-Centric Latent Action via Cross-Viewpoint Reconstructioncited by 11
  6. 2025OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learningcited by 10
  7. 2025Tool-as-Interface: Learning Robot Policies from Observing Human Tool Usecited by 8
  8. 2025Robot Learning from Any Imagescited by 7
  9. 2026AnyCamVLA: Zero-Shot Camera Adaptation for Viewpoint Robust Vision-Language-Action Modelscited by 7
  10. 2025Reimagination with Test-time Observation Interventions: Distractor-Robust World Model Predictions for Visual Model Predictive Controlcited by 6
  11. 2025ManiVID-3D: Generalizable View-Invariant Reinforcement Learning for Robotic Manipulation via Disentangled 3D Representationscited by 5
  12. 2025PhysiAgent: An Embodied Agent Framework in Physical Worldcited by 5
  13. 2026Visual Generation in the New Era: An Evolution from Atomic Mapping to Agentic World Modelingcited by 5
  14. 2025Latent Adaptive Planner for Dynamic Manipulationcited by 4
  15. 2025D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentationcited by 4
  16. 2025See Once, Then Act: Vision-Language-Action Model with Task Learning from One-Shot Video Demonstrationscited by 4
  17. 2026Cloak: Zero-Shot Cross-Embodiment Manipulation by Masking the End-Effector from the VLAcited by 3
  18. 2024AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Taskscited by 2
  19. 2026CRAFT: Video Diffusion for Bimanual Robot Data Generationcited by 2
  20. 2026HARP-VLA: Human-Robot Aligned Representation Learning for Vision-Language-Action Modelcited by 2
  21. 2026FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptationcited by 2
  22. 2024NeRF-Aug: Data Augmentation for Robotics with Neural Radiance Fieldscited by 1
  23. 2025ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentationcited by 1
  24. 2025RobotSeg: A Model and Dataset for Segmenting Robots in Image and Videocited by 1
  25. 2026RoboDream: Compositional World Models for Scalable Robot Data Synthesiscited by 1
  26. 2026Cross-Embodiment Transfer via Behavior-Aligned Representationscited by 1
  27. 2026Selective Cross-View Consistency for World Action Models: Held-Out Viewpoint Robustness Without Test-Time Camera Informationcited by 1
  28. 2026A Principled Approach for Creating High-fidelity Synthetic Demonstrations for Imitation Learningcited by 0
  29. 2026MinInter: Minimizing Trajectory Interpolation During Data Augmentation for Imitation Learningcited by 0
  30. 2026Domain Arithmetic: One-Shot VLA Adaptation under Environmental Shiftscited by 0
  31. 2026RayViT: Ray-Conditioned Visual Representations for Viewpoint-Robust Imitation Learningcited by 0
  32. 2026The Embodiment Gap in Robot Foundation Modelscited by 0
  33. 2026RoboFolDeX: A Physical-World Benchmark for Long-Horizon Robotic Manipulation of Deformable Objectscited by 0
  34. 2026EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulationcited by 0