{"ID":2860520,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.03706","arxiv_id":"2510.03706","title":"EmbodiSwap for Zero-Shot Robot Imitation Learning","abstract":"We introduce EmbodiSwap - a method for producing photorealistic synthetic robot overlays over human video. We employ EmbodiSwap for zero-shot imitation learning, bridging the embodiment gap between in-the-wild ego-centric human video and a target robot embodiment. We train a closed-loop robot manipulation policy over the data produced by EmbodiSwap. We make novel use of V-JEPA as a visual backbone, repurposing V-JEPA from the domain of video understanding to imitation learning over synthetic robot videos. Adoption of V-JEPA outperforms alternative vision backbones more conventionally used within robotics. In real-world tests, our zero-shot trained V-JEPA model achieves an $82\\%$ success rate, outperforming a few-shot trained $π_0$ network as well as $π_0$ trained over data produced by EmbodiSwap. We release (i) code for generating the synthetic robot overlays which takes as input human videos and an arbitrary robot URDF and generates a robot dataset, (ii) the robot dataset we synthesize over EPIC-Kitchens, HOI4D and Ego4D, and (iii) model checkpoints and inference code, to facilitate reproducible research and broader adoption.","short_abstract":"We introduce EmbodiSwap - a method for producing photorealistic synthetic robot overlays over human video. We employ EmbodiSwap for zero-shot imitation learning, bridging the embodiment gap between in-the-wild ego-centric human video and a target robot embodiment. We train a closed-loop robot manipulation policy over t...","url_abs":"https://arxiv.org/abs/2510.03706","url_pdf":"https://arxiv.org/pdf/2510.03706v1","authors":"[\"Eadom Dessalene\",\"Pavan Mantripragada\",\"Michael Maynord\",\"Yiannis Aloimonos\"]","published":"2025-10-04T07:11:20Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\",\"cs.CV\",\"cs.LG\"]","methods":"[]","has_code":false}