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RoboTok: An Internet-Scale Data Engine for Human Demonstration Retrieval and Dexterous Manipulation Learning

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

Robot learning increasingly depends on broad and diverse demonstrations, yet collecting robot data remains expensive and poorly suited to covering the long tail of real-world tasks. To address this bottleneck, we introduce RoboTok, an internet-scale data engine that, given a query human manipulation video, retrieves manipulation-relevant human demonstrations from web videos for training dexterous robot policies. Specifically, we learn a latent motion space from 3D hand trajectories expressed in estimated actor-centered reference frames. This representation enables manipulation behaviors to be

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