Distilling knowledge from human demonstrations is a promising way for robots to learn and act. Existing methods, which often rely on coarsely-aligned video pairs, are typically constrained to learning global or task-level features. As a result, they tend to neglect the fine-grained frame-level dynamics required for complex manipulation and generalization to novel tasks. We posit that this limitation stems from a vicious circle of inadequate datasets and the methods they inspire. To break this cycle, we propose a paradigm shift that treats fine-grained human-robot alignment as a conditional video generation problem. To this end, we first introduce H&R, a novel third-person dataset containing 2,600 episodes of precisely synchronized human and robot motions, collected using a VR teleoperation system. We then present Human2Robot, a framework designed to leverage this data. Human2Robot employs a Video Prediction Model to learn a rich and implicit representation of robot dynamics by generating robot videos from human input, which in turn guides a decoupled action decoder. Our real-world experiments demonstrate that this approach not only achieves high performance on seen tasks but also exhibits significant one-shot generalization to novel positions, objects, instances, and even new task categories.

Vision language models (VLM) have demonstrated re-markable performance across various downstream tasks. However, understanding fine-grained visual-linguistic con-cepts, such as attributes and inter-object relationships, re-mains a significant challenge. While several benchmarks aim to evaluate VLMs in finer granularity, their primary fo-cus remains on the linguistic aspect, neglecting the visual dimension. Here, we highlight the importance of evaluating VLMs from both a textual and visual perspective. We intro-duce a progressive pipeline to synthesize images that vary in a specific attribute while ensuring consistency in all other aspects. Utilizing this data engine, we carefully design a benchmark, SPEC, to diagnose the comprehension of object size, position, existence, and count. Subsequently, we con-duct a thorough evaluation offour leading VLMs on SPEC. Surprisingly, their performance is close to random guess, revealing significant limitations. With this in mind, we pro-pose a simple yet effective approach to optimize VLMs in fine- grained understanding, achieving significant improve-ments on SPEC without compromising the zero-shot performance. Results on two additional fine-grained benchmarks also show consistent improvements, further validating the transferability of our approach. Code and data are available at https://github.com/wjpoom/SPEC.