Author

Ziyuan Jiao

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Preprint Aug 2026

Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data

Learning generalizable robot manipulation policies requires large-scale and diverse demonstration data. Egocentric human manipulation videos offer rich scene and task diversity, and prior work has shown that retargeting and rendering such videos into robot-format data can yield effective per-task policies at small scal...

Ye Wang, Peibin Lin, Xiong-Hui Chen et al. · 10 citations · ⚡1

Preprint Aug 2026

DexMani: Human-Derived Manipulability Guidance for Dexterous Rotation

This work introduces DexMani, a framework that transfers human demonstrations as contact-conditioned manipulability evolution and uses it to guide downstream reinforcement learning, enabling rotation skills to be acquired across robot embodiments with distinct kinematics and active-contact configurations.

Xiaoyang Chen, Shengcheng Luo, Haoran Guo et al. · 0 citations