Video2DoorTraversal: Push Door Traversal via Simulated Door Twins
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.20251v1 Announce Type: new Abstract: Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle interaction and coordinated base-arm control. We present Video2DoorTraversal, a single-video real-to-sim-to-real framework for wheel-legged mobile manipulators. Given one RGB video of a real door, DoorTwin reconstructs an instance-aligned, articulated, and simulation-ready door twin with realistic geometry and appearance.