Juncheng Ma et al. (DAGroup-PKU) · Human-video robot pretraining

Open-HumanScale

Open-HumanScale is an open recipe for scaling egocentric human video pretraining to 50,000 hours, built around the Open-HumanScale-50K corpus, which is annotated with hand motion and natural language. The authors report a log-linear scaling law between pretraining hours and downstream robot success, and their HumanWAM-Vanilla model reaches 92.08% on RoboTwin 2.0 Clean2Clean. The HumanWAM-Goal variant, which adds joint human-robot pretraining, reaches 92.70% and 84.60% on the Clean2Clean and Clean2Random splits. The corpus, curation and pretraining pipelines, checkpoints, inference code and simulation evaluation suites are stated to be open-sourced.