SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
Nie LinTakehiko OhkawaSijin ChenRuoshi WenZhuohang LiLiqun HuangZhengming ZhuYiming BaoYunfei LiMinjie CaiXiao MaWei XuYoichi Sato
Oct 2026
Machine LearningComputer VisionRobotics
Abstract
Recent years have witnessed an explosive trend of scaling ego-centric human videos for robot manipulation, yet it remains unclear which data actually benefits dexterous manipulation. We present SiMDex, a similarity-based data mining framework that casts human data selection for VLA post-training in dexterous manipulation as a recommendation problem. For each robot demonstration, SiMDex runs a three-stage recall-ranking-re-ranking cascade over ~32M egocentric human samples: recall and ranking select a task-relevant subset in a morphology-agnostic action space, and re-ranking verifies it on pixels, with no change to VLA architecture or training. Against a strong baseline trained with an equal amount of randomly sampled human data, SiMDex uses only ~1.49M mined samples (<5% of the pool) yet improves the overall success rate from 47.7% to 61.7%, showing that selective curation outperforms indiscriminate data mixing.
This publication proposes a definition and a classification of agile software development approaches and analyses ten software development methods that can be characterized as being "agile" against the defined criterion.
P. Abrahamsson, O. Salo, Jussi Ronkainen et al.· arXiv.org· 727 citations· ⚡54
The study shows that agile practices improve both informal and formal communication, but indicates that, in larger development situations involving multiple external stakeholders, a mismatch of adequate communication mechanisms can sometimes even hinder the communication.
M. Pikkarainen, Jukka Haikara, O. Salo et al.· Empirical Software Engineeri...· 401 citations· ⚡48
The results indicate that software engineering work practices are chosen opportunistically, adapted and configured to provide value under the constrains imposed by the startup context.
Nicolò Paternoster, Carmine Giardino, M. Unterkalmsteiner et al.· Information and Software Tec...· 394 citations· ⚡54
The possibility of inferring high-dimensional data inference in a model that consists of a prior and an auxiliary differentiable constraint given some additional information is considered, thereby allowing a range of potential applications in adapting models to new domains and tasks.
Alexandros Graikos, Esmeralda S. Whitammer, N. Jojic et al.· Neural Information Processin...· 316 citations· ⚡15
Exploring how generative AI could make machine vision more accessible to businesses. The post GenEye in a Box: Making Machine Vision Something You Can Just Ask For appeared first on GPT-Lab.
Radiology AI is evolving beyond report generation. CARE-X explores a unified approach that combines flexible reasoning, calibrated predictions, and measurement-based tools for chest X-ray interpretation. The post Introducing CARE-X: Towards Clinically Useful Radiology VLMs with Auxiliary Supervision, Reward-Aligned Learning, and Tool-Augmented Measurement appeared first on Microsoft Research.
