H-RDT: Human Manipulation Enhanced Bimanual Robotic Manipulation

Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase data scale, while they face significant limitations as the diverse morphologies and action spaces across different robot embodiments make unified training challenging. In this paper, we present H-RDT (Human to Robotics Diffusion Transformer), a novel approach that leverages human manipulation data to enhance robot manipulation capabilities. Our key insight is that large-scale egocentric human manipulation videos with paired 3D hand pose annotations provide rich behavioral priors that capture natural manipulation strategies and can benefit robotic policy learning. We introduce a two-stage training paradigm: (1) pre-training on largescale egocentric human manipulation data, and (2) crossembodiment fine-tuning on robot-specific data with modular action encoders and decoders. Built on a diffusion transformer architecture with 2B parameters, H-RDT uses flow matching to model complex action distributions. The modular design of action encoder and decoder components enables effective knowledge transfer from the unified human embodiment to diverse robot platforms through efficient finetuning. Extensive evaluations encompassing both simulation and real-world experiments, single-task and multitask scenarios, as well as few-shot learning and robustness assessments, demonstrate that H-RDT outperforms training from scratch and existing state-of-the-art methods, including π0 and RDT, achieving significant improvements of 13.9% and 40.5% over training from scratch in simulation and real-world experiments, respectively. The results validate our core hypothesis that human manipulation data can serve as a powerful foundation for learning bimanual robotic manipulation policies. See our project page for code and pretrained models.