Author

Chong-Yang Xu

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Preprint Sep 2026

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

Egocentric human demonstrations offer an accessible source of task experience, but differences in body scale and controller response, together with missing robot states, limit their value as humanoid training supervision. We present EgoAlign, a data-construction framework that converts these demonstrations into action...

Yi-Ming Jiang, Jin Chen, Chong-Yang Xu et al. · 0 citations

#artificial intelligence Preprint Sep 2026

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

Human demonstrations capture diverse scenes and rich whole-body skills without requiring robot teleoperation. Prior work on egocentric transfer has emphasized scene generalization in loco-manipulation under decoupled control, leaving direct transfer of coordinated whole-body skills less explored. We present EgoHumanoid...

Jin Chen, Yi-Ming Jiang, Chong-Yang Xu et al. · 0 citations