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Skel-WAM: A Hand-Skeleton-Conditioned World Action Model for Human-to-Robot Manipulation Transfer

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Robot demonstrations are expensive to collect and often provide limited distributional coverage of task variations. Human videos offer a low-cost source of complementary manipulation experience, but learning from them requires bridging embodiment gaps in visual appearance and action spaces. We introduce Skel-WAM, a world action model that bridges these differences through a unified hand-skeleton motion interface. The key insight is to align human and robot motion through a common hand topology, combining skeleton overlays that ground motion in the scene with structured 2.5-D keypoints that enc

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