R2RGEN: Real-to-Real 3D Data Generation for Spatially Generalized
  Manipulation
Authors: name: Xiuwei Xu; name: Angyuan Ma; name: Hankun Li; name: Bingyao Yu; name: Zheng Zhu; name: Jie Zhou; name: Jiwen Lu
Published: 2025-10-09 17:55:44

Abstract: Towards the aim of generalized robotic manipulation, spatial generalization
is the most fundamental capability that requires the policy to work robustly
under different spatial distribution of objects, environment and agent itself.
To achieve this, substantial human demonstrations need to be collected to cover
different spatial configurations for training a generalized visuomotor policy
via imitation learning. Prior works explore a promising direction that
leverages data generation to acquire abundant spatially diverse data from
minimal source demonstrations. However, most approaches face significant
sim-to-real gap and are often limited to constrained settings, such as
fixed-base scenarios and predefined camera viewpoints. In this paper, we
propose a real-to-real 3D data generation framework (R2RGen) that directly
augments the pointcloud observation-action pairs to generate real-world data.
R2RGen is simulator- and rendering-free, thus being efficient and
plug-and-play. Specifically, given a single source demonstration, we introduce
an annotation mechanism for fine-grained parsing of scene and trajectory. A
group-wise augmentation strategy is proposed to handle complex multi-object
compositions and diverse task constraints. We further present camera-aware
processing to align the distribution of generated data with real-world 3D
sensor. Empirically, R2RGen substantially enhances data efficiency on extensive
experiments and demonstrates strong potential for scaling and application on
mobile manipulation.