{"paper":{"title":"Phantom: Training Robots Without Robots Using Only Human Videos","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jeannette Bohg, Jiaying Fang, Marion Lepert","submitted_at":"2025-03-02T08:06:55Z","abstract_excerpt":"Training general-purpose robots requires learning from large and diverse data sources. Current approaches rely heavily on teleoperated demonstrations which are difficult to scale. We present a scalable framework for training manipulation policies directly from human video demonstrations, requiring no robot data. Our method converts human demonstrations into robot-compatible observation-action pairs using hand pose estimation and visual data editing. We inpaint the human arm and overlay a rendered robot to align the visual domains. This enables zero-shot deployment on real hardware without any "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.00779","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2503.00779/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}