EgoAlign: Bridging the Human-Humanoid Gap for Long-Range Loco-Manipulation

arXiv:2609.38046 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-10-01

Project page: https://lambdahumanoid.github.io/EgoAlign

Terminology

• Alignment — 33× in this paper · explained in 1 episode
• Ablation — 13× in this paper · explained in 1 episode
• Adaptation — 10× in this paper · explained in 1 episode
• Foundation Model — 5× in this paper · explained in 3 episodes
• Decode — 4× in this paper · explained in 2 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Generalization — 2× in this paper · explained in 13 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Iterative Refinement — 1× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data
• Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations
• BifrostUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation
• StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing
• ${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
• JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy
• Towards the Vision-Sound-Language-Action Paradigm: The HEAR Framework for Sound-Centric Manipulation
• What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models
• EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks
• EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
• HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos
• TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model
• VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
• PaliGemma: A versatile 3B VLM for transfer

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving