EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation

arXiv:2609.37181 · cs.RO, cs.AI · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Alignment — 42× in this paper · explained in 1 episode
• Accuracy — 22× in this paper · explained in 1 episode
• Ablation — 8× in this paper · explained in 1 episode
• Generalization — 5× in this paper · explained in 13 episodes
• Universal Manipulation Interface — 4× in this paper
• Adaptation — 3× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Consistency — 3× in this paper · explained in 3 episodes
• Core — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• Domain Adaptation — 2× in this paper · explained in 5 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Geometric Mismatch — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes

Sources

• DiffuEraser: A Diffusion Model for Video Inpainting
• BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
• ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data

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