EgoWild2Dex: Learning Dexterous Robotic Manipulation from In-the-Wild Human Experience

arXiv:2609.23755 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-20

Code: https://github.com/agilexrobotics/piper_

Terminology

• Alignment — 30× in this paper · explained in 1 episode
• Action Space — 12× in this paper · explained in 1 episode
• Adaptation — 11× in this paper · explained in 1 episode
• Calibration — 11× in this paper · explained in 7 episodes
• Transformer — 11× in this paper · explained in 2 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Active Perception — 1× in this paper · explained in 2 episodes
• Adversarial Training — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Dynamic Time Warping — 1× in this paper
• Dynamic Time Warping (DTW) — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes
• RAG — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

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