RoboTryOn

Checkpoints for Synthesizing Dexterous Robot Demonstrations from Human Videos via Virtual Try-On.

Paper · Project page · Code

Folder	Model	Base
image/	Keyframe translation (LoRA)	FLUX.2-klein-base-9B
video/	Video synthesis (in-context LoRA)	LTX-2.5-Diffusers
idm/	Inverse dynamics model, shared by all embodiments	Depth-Anything-V2-Large

All models are trained on teleoperated episodes of OpenArm, RB-Y1 and GR-1.

Usage

hf download RyanL22/RoboTryOn --local-dir ckpt
python scripts/run_pipeline.py --config configs/pipeline.yaml ... \
    checkpoints.image=ckpt/image checkpoints.video=ckpt/video checkpoints.idm=ckpt/idm

Citation

@article{lee2026robotryon,
  title={Synthesizing Dexterous Robot Demonstrations from Human Videos via Virtual Try-On},
  author={Lee, Seungyong and Jang, Suhyeok and Kim, Minyoung and Shin, Jinwoo},
  journal={arXiv preprint arXiv:2611.05163},
  year={2026}
}