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DemoMimic: One Demo, Many Unseen Objects

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DemoMimic learns manipulation from one human demo by focusing on local contact geometry, generalizing to unseen boxes. Real-world ablations report 71% success across 16 objects and four tasks.

DemoMimicDexterous ManipulationContact GeometryOne-shotSim-to-RealManipulationarXivSingle DemonstrationRobot Manipulation
Category: arm
Author: @heetezition
Date: 2026-09-03T00:00:00
Duration: 39.939s
Source: https://x.com/heetezition/status/2095524969530749262
Reference: https://arxiv.org/abs/2609.01938

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