LIDEA: Human-to-Robot Imitation Learning via Implicit Feature Distillation and Explicit Geometry Alignment

Scaling up robot learning is hindered by the scarcity of robotic demonstrations, whereas human videos offer a vast, untapped source of interaction data. However, bridging the embodiment gap between human hands and robot arms remains a critical challenge. Existing cross-embodiment transfer strategies typically rely on visual editing, but they often introduce visual artifacts due to intrinsic discrepancies in visual appearance and 3D geometry. To address these limitations, we introduce LIDEA (Implicit Feature Distillation and Explicit Geometric Alignment), an imitation learning framework in which policy learning benefits from human demonstrations. In the 2D visual domain, LIDEA employs a dual-stage transitive distillation pipeline that aligns human and robot representations in a shared latent space. In the 3D geometric domain, we propose an embodiment-agnostic alignment strategy that explicitly decouples embodiment from interaction geometry, ensuring consistent 3D-aware perception. Extensive experiments empirically validate LIDEA from two perspectives: data efficiency and OOD robustness. Results show that human data substitutes up to 80% of costly robot demonstrations, and the framework successfully transfers unseen patterns from human videos for out-of-distribution generalization.

LaMP: Learning Vision-Language-Action Policies with 3D Scene Flow as Latent Motion Prior

We introduce \textbf{LaMP}, a dual-expert Vision-Language-Action framework that embeds dense 3D scene flow as a latent motion prior for robotic manipulation. Existing VLA models regress actions directly from 2D semantic visual features, forcing them to learn complex 3D physical interactions implicitly. This implicit learning strategy degrades under unfamiliar spatial dynamics. LaMP addresses this limitation by aligning a flow-matching \emph{Motion Expert} with a policy-predicting \emph{Action Expert} through gated cross-attention. Specifically, the Motion Expert generates a one-step partially denoised 3D scene flow, and its hidden states condition the Action Expert without full multi-step reconstruction. We evaluate LaMP on the LIBERO, LIBERO-Plus, and SimplerEnv-WidowX simulation benchmarks as well as real-world experiments. LaMP consistently outperforms evaluated VLA baselines across LIBERO, LIBERO-Plus, and SimplerEnv-WidowX benchmarks, achieving the highest reported average success rates under the same training budgets. On LIBERO-Plus OOD perturbations, LaMP shows improved robustness with an average 9.7% gain over the strongest prior baseline. Our project page is available at https://summerwxk.github.io/lamp-project-page/.