Zhan-Peng Zhang

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

EgoWild2Dex, which transfers in-the-wild ego-human experience to dual-arm robots with dexterous hands by jointly aligning unstable egocentric views and human motions with robot observations and actions, is introduced and GeoFormer, a differentiable geometric transformer that warps noisy human observations toward robot...