Paper

EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration

arXiv:2602.10106v2 Announce Type: replace Abstract: Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging, data-hungry problem of humanoid loco-manipulation remains largely unexplored. We present EgoHumanoid, the first framework to co-train a vision-language-action policy using abundant egocentric human demonstrations together with a limited amount of robot data, enabling humanoids to perform loco-manipulation acros…

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