{"id":"https://openalex.org/W7165357025","doi":"https://doi.org/10.48550/arxiv.2606.20118","title":"Pose6DAug: Physically Plausible Multi-view Object Swapping for Robot Data Augmentation","display_name":"Pose6DAug: Physically Plausible Multi-view Object Swapping for Robot Data Augmentation","publication_year":2026,"publication_date":"2026-06-18","ids":{"openalex":"https://openalex.org/W7165357025","doi":"https://doi.org/10.48550/arxiv.2606.20118"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.20118","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20118","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.2606.20118","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139009540","display_name":"Jonghoon Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Jonghoon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063015584","display_name":"Seong Hyeon Park","orcid":"https://orcid.org/0000-0002-0097-2745"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Seong Hyeon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139024000","display_name":"Byungwoo Jeon","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jeon, Byungwoo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128904082","display_name":"Minha Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Minha","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139013375","display_name":"Jinwoo Shin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shin, Jinwoo","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":0.3959999978542328,"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":0.3959999978542328,"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":0.3382999897003174,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.03799999877810478,"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/teleoperation","display_name":"Teleoperation","score":0.6807000041007996},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6559000015258789},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.589900016784668},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5774999856948853},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5633000135421753},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5317000150680542},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.517300009727478},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4447999894618988},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4268999993801117}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6807000041007996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6639999747276306},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6559000015258789},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6534000039100647},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5938000082969666},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.589900016784668},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5774999856948853},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5633000135421753},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5317000150680542},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.517300009727478},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4447999894618988},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4268999993801117},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4023999869823456},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.36660000681877136},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.35760000348091125},{"id":"https://openalex.org/C184047640","wikidata":"https://www.wikidata.org/wiki/Q182593","display_name":"Illusion","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.30399999022483826},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.3021000027656555},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.30079999566078186},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.2912999987602234},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C21080849","wikidata":"https://www.wikidata.org/wiki/Q13611879","display_name":"Data point","level":2,"score":0.27000001072883606},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2687999904155731},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.20118","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20118","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.2606.20118","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20118","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language-action":[0],"(VLA)":[1],"policies":[2],"have":[3],"shown":[4],"strong":[5],"potential":[6],"for":[7,36,67],"general-purpose":[8],"manipulation,":[9],"yet":[10],"they":[11],"often":[12],"fail":[13],"on":[14,165,181],"novel,":[15],"out-of-distribution":[16],"objects":[17],"whose":[18],"appearance":[19],"or":[20],"geometry":[21],"deviates":[22],"from":[23],"the":[24,99,139,178],"training":[25],"distribution.":[26],"The":[27],"standard":[28],"remedy":[29],"is":[30,79,197],"to":[31,177,201],"collect":[32],"multi-view":[33,94,119,192],"teleoperation":[34],"data":[35,54,74,166],"every":[37],"failure":[38,69],"case,":[39],"but":[40],"this":[41,104],"scales":[42],"poorly":[43],"in":[44,136],"both":[45],"cost":[46],"and":[47,109,121,128,193],"time.":[48],"We":[49],"introduce":[50],"Pose6DAug,":[51],"a":[52,59,86,148,163,198],"failure-driven":[53],"augmentation":[55,196],"framework":[56],"that":[57,80,191],"turns":[58],"policy's":[60],"own":[61],"successful":[62,82],"episodes":[63],"into":[64],"targeted":[65],"demonstrations":[66],"its":[68],"modes,":[70],"without":[71],"any":[72],"new":[73,108],"collection.":[75],"Our":[76,131],"key":[77],"insight":[78],"each":[81],"episode":[83],"already":[84],"encodes":[85],"physically":[87,110,194],"valid":[88],"action":[89],"trajectory":[90],"together":[91],"with":[92,142],"calibrated":[93],"observations.":[95],"By":[96],"swapping":[97],"only":[98],"manipulated":[100],"object":[101,141],"while":[102,184],"preserving":[103,185],"trajectory,":[105,153],"we":[106],"obtain":[107],"grounded":[111],"demonstrations.":[112],"However,":[113],"naive":[114],"2D":[115],"video":[116],"editing":[117],"breaks":[118],"consistency":[120],"physical":[122],"plausibility,":[123],"particularly":[124],"under":[125],"heavy":[126],"occlusion":[127],"egocentric":[129],"viewpoints.":[130],"method":[132,170],"instead":[133],"operates":[134],"directly":[135],"3D,":[137],"anchoring":[138],"target":[140],"an":[143],"explicit":[144],"mesh":[145],"driven":[146],"by":[147,168,174],"temporally":[149],"coherent":[150],"6D":[151],"pose":[152],"ensuring":[154],"geometrically":[155],"consistent":[156,195],"renderings":[157],"across":[158],"all":[159],"camera":[160],"views.":[161],"Fine-tuning":[162],"VLA":[164,203],"augmented":[167],"our":[169],"improves":[171],"success":[172],"rates":[173],"16.5%":[175],"relative":[176],"state-of-the-art":[179],"baseline":[180],"novel":[182],"objects,":[183],"in-distribution":[186],"performance.":[187],"These":[188],"results":[189],"show":[190],"practical":[199],"path":[200],"scalable":[202],"generalization.":[204]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-20T00:00:00"}