Abstract
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-V2, the first egocentric human-to-humanoid skill transfer framework for coordinated whole-body loco-manipulation. At its core, coarse-to-fine action alignment combines kinematic reference correction with dynamics-aware refinement. It improves end-effector pose accuracy while preserving whole-body coordination. We also use robot-arm rendering and training-time image augmentation to reduce the visual embodiment gap and improve viewpoint robustness. On four real-world tasks, vision-language-action (VLA) policies trained on aligned human data show zero-shot skill transfer without target-task robot demonstrations. Task scores are comparable to those of policies trained on teleoperation data at a lower collection cost. These results support human data as direct skill supervision.
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Cite this article
APA 7
Chen, J., Jiang, Y., Xu, C., Shi, M., Peng, S., Chen, L., Li, T., Xu, M., Chen, Y., Hoi, S., & Li, H. (2026). EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation. https://omanscience.com/en/articles/egohumanoid-v2-human-to-humanoid-transfer-of-coordinated-whole-body-skills-for-loco-manipulation
MLA 9
Chen, Jin, et al. "EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation." https://omanscience.com/en/articles/egohumanoid-v2-human-to-humanoid-transfer-of-coordinated-whole-body-skills-for-loco-manipulation.
Chicago (author–date)
Chen, Jin, Yiming Jiang, Chongyang Xu, Modi Shi, Shijia Peng, Li Chen, Tianyu Li, Mu Xu, Yilun Chen, Steven Hoi, and Hongyang Li. 2026. "EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation." https://omanscience.com/en/articles/egohumanoid-v2-human-to-humanoid-transfer-of-coordinated-whole-body-skills-for-loco-manipulation.
Harvard
Chen, J., Jiang, Y., Xu, C., Shi, M., Peng, S., Chen, L., Li, T., Xu, M., Chen, Y., Hoi, S. and Li, H. (2026) 'EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation', Available at: https://omanscience.com/en/articles/egohumanoid-v2-human-to-humanoid-transfer-of-coordinated-whole-body-skills-for-loco-manipulation.
Vancouver
Chen J, Jiang Y, Xu C, Shi M, Peng S, Chen L, et al. EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation. https://omanscience.com/en/articles/egohumanoid-v2-human-to-humanoid-transfer-of-coordinated-whole-body-skills-for-loco-manipulation
IEEE
J. Chen, Y. Jiang, C. Xu, M. Shi, S. Peng, L. Chen, T. Li, M. Xu, Y. Chen, S. Hoi, and H. Li, "EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation," https://omanscience.com/en/articles/egohumanoid-v2-human-to-humanoid-transfer-of-coordinated-whole-body-skills-for-loco-manipulation.