Tag
Real2Gym is an agentic Real2Sim2Real framework that transforms human and robot video demonstrations into interactive simulation gyms, enabling skill transfer to physical robots with improved success rates over baselines.
This paper proposes a bridging action representation based on relative wrist translation in the head-camera frame to transfer human manipulation skills to bi-manual robots, using a vision-language-action model with interleaved action tokens and attention masking to handle embodiment differences.