Author

Makoto Sato

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Preprint Aug 2026

DREAM: Deployment-Time Demonstration Generation via Real-to-Sim for Scalable Policy Adaptation

DREAM is presented, a framework that generates fine-tuning data for a pretrained VLA from a captured workspace and a language instruction, without requiring a task-specific human demonstration, and whether it can serve as a scalable data-collection system for the deployment workspace.

Makoto Sato, T. Matsushima, Yutaka Matsuo et al. · 1 citation