HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos

arXiv:2605.24934 · cs.RO, cs.AI, cs.CV, cs.LG · Submitted 2026-05-24 · Read on arXiv

cs.RO, cs.AI, cs.CV, cs.LG

Submitted: 2026-05-24

Updated: 2026-09-14

Comments: Project page: https://humanego-ai.github.io

Code: https://github.com/TX-Leo/HumanEgo

Project page: https://humanego-ai.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Flow Matching — 17× in this paper · explained in 7 episodes
• Transformer — 8× in this paper · explained in 2 episodes
• Consistency — 7× in this paper · explained in 3 episodes
• Trace — 7× in this paper · explained in 2 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Interaction-Centric Token — 6× in this paper
• Grounding — 5× in this paper · explained in 3 episodes
• Conference on Computer Vision and Pattern Recognition — 4× in this paper
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• In Conference on Robot Learning — 4× in this paper
• Alignment — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Data Augmentation — 3× in this paper · explained in 7 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Machine Perception Services — 3× in this paper
• Sparsity — 3× in this paper · explained in 4 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Domain Adaptation — 2× in this paper · explained in 5 episodes
• In European Conference on Computer Vision — 2× in this paper
• In International Conference on Learning Representations — 2× in this paper
• Point Clouds — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Zero-Shot Transfer — 2× in this paper · explained in 3 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Active Vision — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Degeneracy — 1× in this paper · explained in 3 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Distribution Shift — 1× in this paper · explained in 5 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Exponential Moving Average (EMA) — 1× in this paper · explained in 2 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• In-Context Learning — 1× in this paper · explained in 4 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Latent Space — 1× in this paper · explained in 7 episodes
• Rectified Flow — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Sample Efficiency — 1× in this paper · explained in 4 episodes
• World Model — 1× in this paper · explained in 7 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes

Sources

• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation
• Project Aria: A New Tool for Egocentric Multi-Modal AI Research
• ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation
• EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos
• EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
• EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
• Masquerade: Learning from In-the-wild Human Videos using Data-Editing
• EmbodiSwap for Zero-Shot Robot Imitation Learning
• EgoZero: Robot Learning from Smart Glasses
• H2R: A Human-to-Robot Data Augmentation for Robot Pre-training from Videos
• Any-point Trajectory Modeling for Policy Learning
• GenFlowRL: Shaping Rewards with Generative Object-Centric Flow in Visual Reinforcement Learning
• NovaFlow: Zero-Shot Manipulation via Actionable Flow from Generated Videos
• Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrations
• Introducing HOT3D: An Egocentric Dataset for 3D Hand and Object Tracking
• UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos
• TraceGen: World Modeling in 3D Trace Space Enables Learning from Cross-Embodiment Videos
• Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations
• AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation

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