Author

Haonan Zhao

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Preprint Oct 2026

EgoJEPA: Beyond Retargeting for Dexterous Manipulation from Egocentric Videos

Egocentric human videos offer a scalable alternative to costly robot demonstra- tions, yet transferring their manipulation priors to robot control remains chal- lenging. The commonly adopted retargeting-based approaches convert human wrist and finger poses into embodiment-specific action commands through hand- crafted...

Meng Cao, Can Zhao, Jin-Jie Wei et al. · 0 citations

Jun 2026

Why Struggle with Continuous Latents? Interpretable Discrete Latent Reasoning via Rendered Compression

Inspired by render-based compression, this work renders textual chains of thought into images, extract visual features, and construct a discrete latent vocabulary via clustering-based fine-tuning, and concludes that discrete latent tokens provide a controllable and interpretable basis for efficient latent reasoning.

Shuochen Chang, Qingyang Liu, Shaobo Wang et al. · arXiv.org · 0 citations