# Real2Sem2Real: Generating Cross-Instance Robot Training Data from a Single Human RGB Demonstration

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/fu7o8gtzftnvcw77wkhj94kww
- Original: https://arxiv.org/abs/2610.28880

## Summary

Real2Sem2Real (R2Sem2R) proposes a real-semantic-real pipeline that turns a single monocular RGB human demonstration video into thousands of robot demonstrations covering multiple semantic object instances within the same category. The method tracks object SE(3) poses using DINOv3-distilled Gaussian splats, outperforming existing methods and FoundationPose with estimated metric depth, and maps the human hand to a feasible robot grasp that can be transferred to digital twins.