Reverse Playback Motion: A Simple Way for Anyone to Obtain High-Quality Demonstration Data
Published in International Journal of Precision Engineering and Manufacturing, 2026
Collecting high-quality demonstration data is a key bottleneck in robot learning, because precisely placing objects into target configurations is difficult for non-expert operators. This work proposes a data collection framework that inverts the problem: operators start from the goal state and perform the reverse motion, which is inherently easier to execute. The collected reverse motions are converted into valid forward trajectories through temporal reversal of the recorded end-effector poses.
The approach is evaluated across five constrained manipulation tasks, covering both single-stage and multi-stage scenarios.
Recommended citation: Hyunjun Kim, Jaeseog Won, Hong-ryul Jung, Donghoon Kim, Minsuk Ko, and Hyungpil Moon. (2026). "Reverse Playback Motion: A Simple Way for Anyone to Obtain High-Quality Demonstration Data." International Journal of Precision Engineering and Manufacturing, 1-11.
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