Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2026
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.11811 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915857157849088 |
|---|---|
| author | Wang, Yongzhong Zhu, Keyu Zhong, Yong Wang, Liqiong Yang, Jinyu Zheng, Feng |
| author_facet | Wang, Yongzhong Zhu, Keyu Zhong, Yong Wang, Liqiong Yang, Jinyu Zheng, Feng |
| contents | The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loop collection paradigms. To break this barrier, we introduce Robust Autonomous Data Acquisition for Robotics (RADAR), a fully autonomous, closed-loop data generation engine that completely removes human intervention from the collection cycle. RADAR elegantly divides the cognitive load into a four-module pipeline. Anchored by 2-5 3D human demonstrations as geometric priors, a Vision-Language Model first orchestrates scene-relevant task generation via precise semantic object grounding and skill retrieval. Next, a Graph Neural Network policy translates these subtasks into physical actions via in-context imitation learning. Following execution, the VLM performs automated success evaluation using a structured Visual Question Answering pipeline. Finally, to shatter the bottleneck of manual resets, a Finite State Machine orchestrates an autonomous environment reset and asymmetric data routing mechanism. Driven by simultaneous forward-reverse planning with a strict Last-In, First-Out causal sequence, the system seamlessly restores unstructured workspaces and robustly recovers from execution failures. This continuous brain-cerebellum synergy transforms data collection into a self-sustaining process. Extensive evaluations highlight RADAR's exceptional versatility. In simulation, our framework achieves up to 90% success rates on complex, long-horizon tasks, effortlessly solving challenges where traditional baselines plummet to near-zero performance. In real-world deployments, the system reliably executes diverse, contact-rich skills (e.g., deformable object manipulation) via few-shot adaptation without domain-specific fine-tuning, providing a highly scalable paradigm for robotic data acquisition. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_11811 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | RADAR: Closed-Loop Robotic Data Generation via Semantic Planning and Autonomous Causal Environment Reset Wang, Yongzhong Zhu, Keyu Zhong, Yong Wang, Liqiong Yang, Jinyu Zheng, Feng Robotics Artificial Intelligence Computer Vision and Pattern Recognition The acquisition of large-scale physical interaction data, a critical prerequisite for modern robot learning, is severely bottlenecked by the prohibitive cost and scalability limits of human-in-the-loop collection paradigms. To break this barrier, we introduce Robust Autonomous Data Acquisition for Robotics (RADAR), a fully autonomous, closed-loop data generation engine that completely removes human intervention from the collection cycle. RADAR elegantly divides the cognitive load into a four-module pipeline. Anchored by 2-5 3D human demonstrations as geometric priors, a Vision-Language Model first orchestrates scene-relevant task generation via precise semantic object grounding and skill retrieval. Next, a Graph Neural Network policy translates these subtasks into physical actions via in-context imitation learning. Following execution, the VLM performs automated success evaluation using a structured Visual Question Answering pipeline. Finally, to shatter the bottleneck of manual resets, a Finite State Machine orchestrates an autonomous environment reset and asymmetric data routing mechanism. Driven by simultaneous forward-reverse planning with a strict Last-In, First-Out causal sequence, the system seamlessly restores unstructured workspaces and robustly recovers from execution failures. This continuous brain-cerebellum synergy transforms data collection into a self-sustaining process. Extensive evaluations highlight RADAR's exceptional versatility. In simulation, our framework achieves up to 90% success rates on complex, long-horizon tasks, effortlessly solving challenges where traditional baselines plummet to near-zero performance. In real-world deployments, the system reliably executes diverse, contact-rich skills (e.g., deformable object manipulation) via few-shot adaptation without domain-specific fine-tuning, providing a highly scalable paradigm for robotic data acquisition. |
| title | RADAR: Closed-Loop Robotic Data Generation via Semantic Planning and Autonomous Causal Environment Reset |
| topic | Robotics Artificial Intelligence Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2603.11811 |