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H2RBench: A Real-to-Sim Benchmark for Evaluating Human-to-Robot Transfer

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Learning robot manipulation policies from human video demonstrations constitutes a promising avenue for scalable robot learning. However, comparing different human-to-robot (H2R) transfer methods remains challenging, as existing approaches are evaluated under different settings, including differing task suites, scene layouts, object instances, and amounts of robot supervision. To address this challenge, we present H2RBench, a Real2Sim benchmark for evaluating H2R transfer methods. H2RBench provides a standardized protocol built on real human video demonstrations and simulated robot demonstrati

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