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In contrast, unstructured human videos provide a scalable alternative. They contain diverse manipulation demonstrations across objects, scenes, and strategies, but are not directly connected to robot action. We propose LUCID, a two-stage framework that learns task intent from unstructured human videos drawn from internet-scale datasets and learns robot control in massively-parallel simulation. The intent model predicts short-horizon intent (what should happen next in the scene) from the current observation in closed loop. An embodiment-specific sensorimotor policy converts this intent into robot actions. The intent interface is shared across controllers, so the same intent model can be applied to different embodiments, from our primary dexterous hand to ","title":"LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition","url":"https://arxiv.org/abs/2606.11628","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.11628v1 Announce Type: cross \nAbstract: The most widely-adopted robot learning pipelines today learn skills from robot demonstrations or structured human data, which are expensive to collect and tied to specific embodiments. In contrast, unstructured human videos provide a scalable alternative. They contain diverse manipulation demonstrations across objects, scenes, and strategies, but are not directly connected to robot action. We propose LUCID, a two-stage framework that learns task intent from unstructured human videos drawn from internet-scale datasets and learns robot control in massively-parallel simulation. The intent model predicts short-horizon intent (what should happen next in the scene) from the current observation in closed loop. An embodiment-specific sensorimotor policy converts this intent into robot actions. The intent interface is shared across controllers, so the same intent model can be applied to different embodiments, from our primary dexterous hand to ","title":"LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-11T04:43:37Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.11628"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:d2b693fca71cc5ad42a01bf6245226110bc8f336100361d2caacd2968ff7fab82435f12c28fbd554d6b27c673bd5a205799ee04d4b01ab568449a3c0ba8baf0a","signer":"crovia.substrate","subject":{"observed_at":"2026-06-11T04:43:37Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.11628"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"ddb322e2e7e184b2b00153861b3e07c1dccfcf00422f888fbfec71c0d91b5020","leaf_index":227425,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"af34b96b168bdff9a2ddfd031a3cdb5fa20f506e66ef2d1e1211cb4797868b2c","side":"left"},{"sibling":"862116a2d7b36b08795dcb0a434601fc9d41a82e41fd8a6edf7b26fb6c54fda2","side":"right"},{"sibling":"9ccbb9581384e623260750ecbc8965cdfb721b2eaee76b94863aa3e66a29cc9d","side":"right"},{"sibling":"3890de4d3ef75ad83decd3eea249934fbc90fdc700611e23d00bf17afbc21705","side":"right"},{"sibling":"9131a7149acaa4a23ef60f4e6edb30a0f64ab95a2e204e8cfa339e4c2297255a","side":"right"},{"sibling":"bd9143d68163e894b6ef82c79888bf3a5da8d9a36bddd514f20ae16f1f7f6ccf","side":"left"},{"sibling":"96bcd6ed4c2b2c36b81b61babb806f683bcc00f55d4beb48afc2ce7777850ac6","side":"left"},{"sibling":"a6d2c01df24bdf78d7a3a20470793a1585a197c5d8c3f07fc4049ed07458246d","side":"right"},{"sibling":"2cfac7f042209c8533c6031bddc4a83bc156e0595f1b28efefbda208904f338a","side":"right"},{"sibling":"04e399458c5b36988cae0bf1c6dbe1b01349003b15cb5aa43f95c55acffe4ec3","side":"right"},{"sibling":"1383228337d54218bd8e5563aebb0b0dfe15c5269e3d5138e64c261d6130a88b","side":"right"},{"sibling":"57cb49c192550231071a0bf53a0821da2f79c585ec6c8d0fc76cebd62ccd78b2","side":"left"},{"sibling":"cdb58f86163046d3b15f857b03372ec75e1ad9ea4548e086793d528b9eed364d","side":"left"},{"sibling":"533d82482604463aa4a281b9d8b85917b383b7c5f924b2b494039524c55e8797","side":"left"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"6cea4964f32722eb370847c2f7c9d6a9f0622c239538b07e6815a59d6fd8d49c","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":228173,"merkle_root":"7e416202c0bfd759bd2eea4236713b403993d99793fe8badb5065040080bece3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260611T143708Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-11T21:59:35Z","sig_algorithm":"ed25519","signature":"231c80024bc3982dd493c45b31af95097e97aabc6d712a4e5bad7d0cbdd3c08e01ff395b0f8e72754bac97016e0cd0eed88b8a13cb71edbbcb9b6d72c10a7b03","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_7348691d9ae755b20c7ea1e40c8548270b47e1ef444549d8b3b31494a334ca3e"}}