{"id":"https://openalex.org/W7160895271","doi":"https://doi.org/10.48550/arxiv.2605.09613","title":"SABER: A Scalable Action-Based Embodied Dataset for Real-World VLA Adaptation","display_name":"SABER: A Scalable Action-Based Embodied Dataset for Real-World VLA Adaptation","publication_year":2026,"publication_date":"2026-05-10","ids":{"openalex":"https://openalex.org/W7160895271","doi":"https://doi.org/10.48550/arxiv.2605.09613"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.09613","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09613","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"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.2605.09613","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132577402","display_name":"Narsimha Menga","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Menga, Narsimha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061448327","display_name":"Parikshit Sakurikar","orcid":"https://orcid.org/0000-0002-9523-5640"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sakurikar, Parikshit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135917847","display_name":"Amirreza Rouhi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rouhi, Amirreza","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132558428","display_name":"Satya Sai Reddy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Reddy, Satya Sai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112174656","display_name":"Anirudh Govil","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Govil, Anirudh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132682700","display_name":"Sri Harsha Chittajallu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chittajallu, Sri Harsha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021268829","display_name":"Rajat Aggarwal","orcid":"https://orcid.org/0000-0001-7131-5294"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aggarwal, Rajat","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135962434","display_name":"Anoop Namboodiri","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Namboodiri, Anoop","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5034025990","display_name":"Sashi Reddi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Reddi, Sashi","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/T10812","display_name":"Human Pose and Action Recognition","score":0.3734000027179718,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.3734000027179718,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.26089999079704285,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.18440000712871552,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6442999839782715},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5468000173568726},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5346999764442444},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5188000202178955},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5087000131607056},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4528999924659729},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4496000111103058},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.43479999899864197},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4284000098705292}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7181000113487244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6575000286102295},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6442999839782715},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5468000173568726},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5346999764442444},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5188000202178955},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5087000131607056},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4860999882221222},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4528999924659729},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4496000111103058},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.43479999899864197},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4284000098705292},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.38530001044273376},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.38199999928474426},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3686999976634979},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.36390000581741333},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3479999899864197},{"id":"https://openalex.org/C171078966","wikidata":"https://www.wikidata.org/wiki/Q111029","display_name":"Root (linguistics)","level":2,"score":0.3391999900341034},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.32100000977516174},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3095000088214874},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.30469998717308044},{"id":"https://openalex.org/C194541083","wikidata":"https://www.wikidata.org/wiki/Q457174","display_name":"Workaround","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.2718000113964081}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.09613","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09613","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.09613","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09613","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"deployment":[1],"in":[2,25,32,254],"real-world":[3],"environments":[4,50],"depends":[5],"on":[6,14],"rich,":[7],"domain-specific":[8],"action":[9,84,169,174],"data":[10,47],"as":[11,13,30],"much":[12],"strong":[15],"model":[16],"architecture.":[17],"General-purpose":[18],"robot":[19,56,185,253],"foundation":[20],"models":[21],"show":[22],"modest":[23],"performance":[24],"complex":[26],"unseen":[27],"tasks":[28,222],"such":[29],"manipulation":[31,221],"a":[33,46,80,136,196,205,212,252],"retail":[34,49,82,142,220,238],"domain":[35],"when":[36],"applied":[37,200],"out":[38],"of":[39,91,112,140,216],"the":[40,60,110,130,234,255],"box.":[41],"The":[42,160,257],"root":[43],"cause":[44],"is":[45,68],"gap:":[48],"are":[51,261],"structurally":[52],"absent":[53],"from":[54,87,102,119],"general":[55],"pretraining":[57],"distributions,":[58],"and":[59,73,127,149,188,259],"path":[61,235],"to":[62,75,184,195,201,236],"filling":[63],"that":[64,233],"gap":[65],"through":[66,241],"teleoperation":[67,158],"prohibitively":[69],"expensive,":[70],"logistically":[71],"constrained,":[72],"difficult":[74],"scale.":[76],"We":[77],"introduce":[78],"SABER,":[79],"high-fidelity":[81],"robotics":[83],"dataset":[85,258],"built":[86],"over":[88,227],"100":[89],"hours":[90],"natural":[92],"in-store":[93],"capture":[94],"across":[95,129,167,218],"multiple":[96],"real":[97],"grocery":[98],"environments.":[99],"Egocentric":[100],"footage":[101,118],"head-mounted":[103],"cameras":[104],"records":[105],"fine-grained":[106],"hand":[107,145],"activity":[108],"at":[109,249,263],"point":[111],"interaction,":[113],"while":[114],"exocentric":[115],"360-degree":[116],"scene":[117,150],"DreamVu's":[120],"ALIA":[121],"camera":[122],"simultaneously":[123],"observes":[124],"all":[125,152],"actors":[126],"activities":[128],"entire":[131],"space.":[132],"This":[133],"combination":[134],"yields":[135,211],"uniquely":[137],"complete":[138],"picture":[139],"human":[141],"behavior:":[143],"dexterous":[144,180],"activity,":[146],"whole-body":[147,190],"motion,":[148],"dynamics,":[151],"captured":[153],"without":[154,251],"staging,":[155],"scripting,":[156],"or":[157],"overhead.":[159],"SABER":[161,210,231],"corpus":[162],"contains":[163],"44.8K":[164],"training":[165],"samples":[166],"three":[168],"representation":[170],"streams:":[171],"25K":[172],"latent":[173],"sequences":[175,193],"via":[176,204],"LAPA-style":[177],"encoding,":[178],"18.6K":[179],"hand-pose":[181],"trajectories":[182],"retargeted":[183,194],"joint":[186],"space,":[187],"1.2K":[189],"synchronized":[191],"motion":[192],"humanoid":[197],"embodiment.":[198],"When":[199],"GR00T":[202],"N1.6":[203],"shared-backbone":[206],"multi-task":[207],"post-training":[208],"recipe,":[209],"mean":[213],"success":[214],"rate":[215],"29.3%":[217],"ten":[219],"--":[223],"more":[224],"than":[225],"2.19x":[226],"fine-tuning":[228],"baselines":[229],"(13.4%).":[230],"demonstrates":[232],"capable":[237],"robots":[239],"runs":[240],"better":[242],"data,":[243],"which":[244],"can":[245],"be":[246],"collected":[247],"today,":[248],"scale,":[250],"loop.":[256],"code":[260],"available":[262],"https://dreamvu.ai/saber":[264]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-13T00:00:00"}