Preprint Open access
IronMind: Scaling Humanoid Dexterous Manipulation via Camera-Space Ego-Centric Pretraining
Egocentric human video offers a scalable data source for dexterous manipulation, yet using it to train humanoid robots presents two challenges: (1) an embodiment gap, as human hands differ structurally from robot end-effectors and low-cost egocentric recordings lack the torso kinematics required by conventional retarge …