Video2DoorTraversal: Push Door Traversal via Simulated Door Twins

Video2DoorTraversal: Push Door Traversal via Simulated Door Twins

|Authors: Xincheng Tang, Yiji Chen, Youhan Xie, Wanyu Li, Zhengjie Shu, Lai Jiang, Wenkang Hu, Yitong Li, Jinchuang Zhang, Xibin Song, Ruigang Yang

|Venue: arXiv preprint | Year: 2026

|arXiv: 2608.20251v1

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. A simulation-in-the-loop agent converts the recovered articulation into a parameterized skill program and iteratively refines failed rollouts to generate physically executable demonstrations. These demonstrations are used to train ArticuACT, a dual-depth policy that predicts coordinated base, arm, and gripper commands using robot-centric camera conditioning and interaction-aware supervision. With all perception and policy inference running onboard, the system achieves a 96.57% average success rate across five real doors and an 80.95% zero-shot success rate on structurally similar unseen doors, while completing the full approach, opening, and traversal sequence in approximately 13s on average. Project Page: https://video2doortraversal.github.io/.

Key Contributions

• Door opening and traversal is a long-horizon loco-manipulation task that requires precise handle …
• We present Video2DoorTraversal, a single-video real-to-sim-to-real framework for wheel-legged mob…
• Given one RGB video of a real door, DoorTwin reconstructs an instance-aligned, articulated, and s…
• A simulation-in-the-loop agent converts the recovered articulation into a parameterized skill pro…
• These demonstrations are used to train ArticuACT, a dual-depth policy that predicts coordinated b…

Topics

• manipulation
• locomotion
• vision
• reinforcement-learning
• sim-to-real
• control
• learning-from-demonstration

Code & Data

No code repository linked in paper metadata.

BibTeX

@article{Tang2026_260820251v1,
  title     = {Video2DoorTraversal: Push Door Traversal via Simulated Door Twins},
  author    = {Xincheng Tang and Yiji Chen and Youhan Xie and Wanyu Li and Zhengjie Shu and Lai Jiang and Wenkang Hu and Yitong Li and Jinchuang Zhang and Xibin Song and Ruigang Yang},
  year      = {2026},
  eprint    = {2608.20251v1},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url       = {https://arxiv.org/abs/2608.20251v1}
}