{"id":"https://openalex.org/W7160326634","doi":"https://doi.org/10.48550/arxiv.2605.02757","title":"Seeing Realism from Simulation: Efficient Video Transfer for Vision-Language-Action Data Augmentation","display_name":"Seeing Realism from Simulation: Efficient Video Transfer for Vision-Language-Action Data Augmentation","publication_year":2026,"publication_date":"2026-05-04","ids":{"openalex":"https://openalex.org/W7160326634","doi":"https://doi.org/10.48550/arxiv.2605.02757"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.02757","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02757","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.02757","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015661495","display_name":"\u6167\u81e3 \u4e8e","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hui, Chenyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135368863","display_name":"Xiaodi Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Xiaodi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135339746","display_name":"Siyu Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Siyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135398345","display_name":"Yunke Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yunke","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135373697","display_name":"Shan You","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"You, Shan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135353381","display_name":"Fei Wang","orcid":"https://orcid.org/0009-0006-9877-0821"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Fei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135358540","display_name":"Tao Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Tao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135300920","display_name":"Chang Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Chang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8690000176429749,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.8690000176429749,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.06719999760389328,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.005400000140070915,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6699000000953674},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5720999836921692},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5692999958992004},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4934999942779541},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4869000017642975},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.41780000925064087},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.3720000088214874},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.33809998631477356},{"id":"https://openalex.org/keywords/automatic-summarization","display_name":"Automatic summarization","score":0.3278999924659729}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8409000039100647},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6699000000953674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6205999851226807},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5720999836921692},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5692999958992004},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5458999872207642},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4934999942779541},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4869000017642975},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.41780000925064087},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3720000088214874},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.33809998631477356},{"id":"https://openalex.org/C170858558","wikidata":"https://www.wikidata.org/wiki/Q1394144","display_name":"Automatic summarization","level":2,"score":0.3278999924659729},{"id":"https://openalex.org/C148047603","wikidata":"https://www.wikidata.org/wiki/Q1014612","display_name":"Parallelizable manifold","level":2,"score":0.3221000134944916},{"id":"https://openalex.org/C178621042","wikidata":"https://www.wikidata.org/wiki/Q7631710","display_name":"Submodular set function","level":2,"score":0.3181999921798706},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.31529998779296875},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3138999938964844},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.3061999976634979},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.302700012922287},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2865000069141388},{"id":"https://openalex.org/C186644900","wikidata":"https://www.wikidata.org/wiki/Q194152","display_name":"Parsing","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2791000008583069},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2775999903678894},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C117090137","wikidata":"https://www.wikidata.org/wiki/Q7927977","display_name":"Video post-processing","level":5,"score":0.2615000009536743},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2605000138282776},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2567000091075897},{"id":"https://openalex.org/C128840427","wikidata":"https://www.wikidata.org/wiki/Q1302174","display_name":"Motion compensation","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.02757","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02757","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.02757","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02757","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.5895103812217712}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language-action":[0],"(VLA)":[1],"models":[2],"typically":[3],"rely":[4],"on":[5,130,151,159],"large-scale":[6],"real-world":[7,35],"videos,":[8],"whereas":[9],"simulated":[10,46],"data,":[11],"despite":[12],"being":[13],"inexpensive":[14],"and":[15,28,57,71,79,112,135,154],"highly":[16],"parallelizable":[17],"to":[18,76,86,109],"collect,":[19],"often":[20],"suffers":[21],"from":[22,65],"a":[23,81,98,113,119,136],"substantial":[24],"visual":[25],"domain":[26],"gap":[27],"limited":[29,126],"environmental":[30],"diversity,":[31],"resulting":[32],"in":[33],"weak":[34],"generalization.":[36],"We":[37],"present":[38],"an":[39],"efficient":[40],"video":[41,68,72,83,104],"augmentation":[42,92,124],"framework":[43],"that":[44,102,117],"converts":[45],"VLA":[47],"videos":[48,52],"into":[49],"realistic":[50,88],"training":[51],"while":[53],"preserving":[54],"task":[55],"semantics":[56],"action":[58],"trajectories.":[59],"Our":[60],"pipeline":[61],"extracts":[62],"structured":[63],"conditions":[64],"simulation":[66],"via":[67],"semantic":[69],"segmentation":[70],"captioning,":[73],"rewrites":[74],"captions":[75],"diversify":[77],"environments,":[78],"uses":[80],"conditional":[82],"transfer":[84],"model":[85],"synthesize":[87],"videos.":[89],"To":[90],"make":[91],"practical":[93],"at":[94],"scale,":[95],"we":[96],"introduce":[97],"diffusion":[99],"feature-reuse":[100],"mechanism":[101],"reuses":[103],"tokens":[105],"across":[106],"adjacent":[107],"timesteps":[108],"accelerate":[110],"generation,":[111],"coreset":[114],"sampling":[115],"strategy":[116],"identifies":[118],"compact,":[120],"non-redundant":[121],"subset":[122],"for":[123],"under":[125],"computation.":[127],"Extensive":[128],"experiments":[129],"Robotwin":[131,152],"2.0,":[132,153],"LIBERO,":[133],"LIBERO-Plus,":[134],"real":[137],"robotic":[138],"platform":[139],"demonstrate":[140],"consistent":[141],"improvements.":[142],"For":[143],"example,":[144],"our":[145],"method":[146],"improves":[147],"RDT-1B":[148],"by":[149,157],"8%":[150],"boosts":[155],"$\u03c0_0$":[156],"5.1%":[158],"the":[160],"more":[161],"challenging":[162],"LIBERO-Plus":[163],"benchmark.":[164],"Code":[165],"is":[166],"available":[167],"at:":[168],"https://github.com/nanfangxiansheng/Seeing-Realism-from-Simulation.":[169]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-06T00:00:00"}
