¹ Ludwig-Maximilians-Universität München (LMU Munich)
² Huawei Research Center Munich
³ Technische Universität München (TUM)
⁴ Albert-Ludwigs-Universität Freiburg
IROS 2025 oral presentation
Recent advancements in generative models have revolutionized video synthesis and editing. However, the scarcity of diverse, high-quality datasets continues to hinder videoconditioned robotic learning, limiting cross-platform generalization. In this work, we address the challenge of swapping a robotic arm in one video with another— a key step for crossembodiment learning. Unlike previous methods that depend on paired video demonstrations in the same environmental settings, our proposed framework, RoboSwap, operates on unpaired data from diverse environments, alleviating the data collection needs. RoboSwap introduces a novel video editing pipeline integrating both GANs and diffusion models, combining their isolated advantages. Specifically, we segment robotic arms from their backgrounds and train an unpaired GAN model to translate one robotic arm to another. The translated arm is blended with the original video background and refined with a diffusion model to enhance coherence, motion realism and object interaction. The GAN and diffusion stages are trained independently. Our experiments demonstrate that RoboSwap outperforms state-of-the-art video and image editing models on three benchmarks in terms of both structural coherence and motion consistency, thereby offering a robust solution for generating reliable, cross-embodiment data in robotic learning.
@article{bai2025roboswap,
title={RoboSwap: A GAN-driven Video Diffusion Framework For Unsupervised Robot Arm Swapping},
author={Bai, Yang and Yang, Liudi and Eskandar, George and Shen, Fengyi and Chen, Dong and Altillawi, Mohammad and Liu, Ziyuan and Kutyniok, Gitta},
journal={arXiv preprint arXiv:2506.08632},
year={2025}
}