{"id":"https://openalex.org/W7164536068","doi":"https://doi.org/10.48550/arxiv.2606.13497","title":"SPARC: Reliable Spatial Annotations from Robot Demonstrations at Scale","display_name":"SPARC: Reliable Spatial Annotations from Robot Demonstrations at Scale","publication_year":2026,"publication_date":"2026-06-11","ids":{"openalex":"https://openalex.org/W7164536068","doi":"https://doi.org/10.48550/arxiv.2606.13497"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.13497","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13497","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.2606.13497","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114285262","display_name":"Nils Blank","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Blank, Nils","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092111819","display_name":"Paul Mattes","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mattes, Paul","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073819848","display_name":"Maximilian Xiling Li","orcid":"https://orcid.org/0000-0002-5974-3322"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Maximilian Xiling","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138438606","display_name":"Jakub Suliga","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suliga, Jakub","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138554688","display_name":"Thomas Roth","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roth, Thomas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138517189","display_name":"Moritz Reuss","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Reuss, Moritz","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005016918","display_name":"Pankhuri Vanjani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vanjani, Pankhuri","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5033283742","display_name":"Rudolf Lioutikov","orcid":"https://orcid.org/0000-0002-8924-7514"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lioutikov, Rudolf","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/T10653","display_name":"Robot Manipulation and Learning","score":0.21819999814033508,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.21819999814033508,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.20260000228881836,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.17389999330043793,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6772000193595886},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.6237999796867371},{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.6001999974250793},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.550000011920929},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5455999970436096},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5410000085830688},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5159000158309937},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5008000135421753},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.44119998812675476}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8255000114440918},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6772000193595886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6410999894142151},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.6237999796867371},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.6001999974250793},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.550000011920929},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5455999970436096},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5410000085830688},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5159000158309937},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5008000135421753},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.44119998812675476},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4318000078201294},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.39649999141693115},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3804999887943268},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35899999737739563},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.35519999265670776},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.3450999855995178},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.3231000006198883},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.31690001487731934},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3158000111579895},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C199579030","wikidata":"https://www.wikidata.org/wiki/Q2851778","display_name":"Automatic image annotation","level":4,"score":0.2727999985218048},{"id":"https://openalex.org/C62230096","wikidata":"https://www.wikidata.org/wiki/Q275969","display_name":"Crowdsourcing","level":2,"score":0.26510000228881836},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.26460000872612},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.25699999928474426},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.25589999556541443}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.13497","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13497","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.2606.13497","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.13497","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"introduces":[2],"Spatial":[3],"Annotations":[4],"from":[5,51],"Robot":[6],"Demonstrations":[7],"with":[8,20],"Reliability":[9],"Calibration":[10],"(SPARC),":[11],"a":[12,28,45,90,117,134],"risk-aware":[13],"framework":[14],"that":[15,136,180],"automatically":[16],"labels":[17,95,122],"robot":[18,54,113,148],"demonstrations":[19,153],"structured":[21],"spatial":[22,32],"annotations":[23,72,185,217],"and":[24,40,56,63,123,157,191,228],"assigns":[25],"each":[26],"annotation":[27,87],"reliability":[29,118],"score.":[30],"Structured":[31],"annotations,":[33],"such":[34,71],"as":[35],"bounding":[36],"boxes,":[37],"object":[38],"trajectories,":[39],"manipulation":[41],"phase":[42],"labels,":[43],"benefit":[44],"broad":[46],"range":[47],"of":[48,144],"robotics":[49],"applications":[50],"training":[52,210],"grounded":[53],"policies":[55,213],"embodied":[57],"foundation":[58],"models":[59,181,229],"to":[60,102,112,115],"motion":[61],"planning":[62],"hierarchical":[64],"task":[65],"composition.":[66],"Existing":[67],"automated":[68,104],"pipelines":[69],"generate":[70,116],"at":[73,173,232],"scale":[74],"but":[75],"provide":[76],"no":[77],"reliable":[78],"quality":[79],"signal:":[80],"detector":[81],"confidence":[82],"is":[83],"poorly":[84],"calibrated":[85],"for":[86],"correctness,":[88],"forcing":[89],"choice":[91],"between":[92],"accepting":[93],"noisy":[94,121],"or":[96,208],"discarding":[97],"useful":[98,126],"samples.":[99,127],"In":[100],"contrast":[101],"existing":[103],"pipelines,":[105],"SPARC":[106,159],"leverages":[107],"the":[108,142],"spatio-temporal":[109],"structure":[110],"inherent":[111],"tasks":[114],"signal,":[119],"reducing":[120],"retaining":[124,168],"more":[125,171],"We":[128],"further":[129],"introduce":[130],"Interaction-Aware":[131],"Bench":[132],"(IA-Bench),":[133],"benchmark":[135],"measures":[137],"model":[138],"accuracy":[139,166],"in":[140,147,164,220],"grounding":[141],"locations":[143],"interacted":[145],"objects":[146],"demonstrations.":[149],"On":[150],"1.7k":[151],"human-annotated":[152],"spanning":[154],"diverse":[155],"embodiments":[156],"scenarios,":[158],"significantly":[160],"outperforms":[161],"detection-only":[162],"baselines":[163,219],"localization":[165],"while":[167,198],"three":[169],"times":[170],"samples":[172],"high-precision":[174],"operating":[175],"points.":[176],"Our":[177],"experiments":[178],"demonstrate":[179],"finetuned":[182],"on":[183,189,201,215],"our":[184],"achieve":[186],"state-of-the-art":[187],"results":[188],"object-grounding":[190],"pointing":[192],"benchmarks":[193],"among":[194],"similarly":[195],"sized":[196],"models,":[197],"remaining":[199],"competitive":[200],"broader":[202],"spatial-reasoning":[203],"suites":[204],"without":[205],"manually":[206],"verified":[207],"annotated":[209],"data.":[211],"Furthermore,":[212],"trained":[214],"SPARC-generated":[216],"outperform":[218],"cluttered,":[221],"visually":[222],"ambiguous":[223],"real-world":[224],"scenes.":[225],"Code,":[226],"data,":[227],"are":[230],"available":[231],"intuitive-robots.github.io/sparc-labeling.":[233]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-13T00:00:00"}
