{"work":{"id":"f3c73768-a32a-4ca8-a82a-df849feb6284","openalex_id":null,"doi":null,"arxiv_id":"2602.10106","raw_key":null,"title":"EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration","authors":null,"authors_text":"Modi Shi, Shijia Peng, Jin Chen, Haoran Jiang, Yinghui Li, Di Huang, Ping Luo, Hongyang Li, and Li Chen","year":2026,"venue":"cs.RO","abstract":"Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging, data-hungry problem of humanoid loco-manipulation remains largely unexplored. We present EgoHumanoid, the first framework to co-train a vision-language-action policy using abundant egocentric human demonstrations together with a limited amount of robot data, enabling humanoids to perform loco-manipulation across diverse real-world environments. To bridge the embodiment gap between humans and robots, including discrepancies in physical morphology and viewpoint, we introduce a systematic alignment pipeline spanning from hardware design to data processing. A portable system for scalable human data collection is developed, and we establish practical collection protocols to improve transferability. At the core of our human-to-humanoid alignment pipeline lies two key components. The view alignment reduces visual domain discrepancies caused by camera height and perspective variation. The action alignment maps human motions into a unified, kinematically feasible action space for humanoid control. Extensive real-world experiments demonstrate that incorporating robot-free egocentric data significantly outperforms robot-only baselines by 51\\%, particularly in unseen environments. Our analysis further reveals which behaviors transfer effectively and the potential for scaling human data.","external_url":"https://arxiv.org/abs/2602.10106","cited_by_count":null,"metadata_source":"pith","metadata_fetched_at":"2026-07-04T00:59:20.874047+00:00","pith_arxiv_id":"2602.10106","created_at":"2026-05-11T06:15:56.857265+00:00","updated_at":"2026-07-04T00:59:20.874047+00:00","title_quality_ok":true,"display_title":"Egohumanoid: Unlocking in-the-wild loco-manipulation with robot-free egocentric demonstration","render_title":"Egohumanoid: Unlocking in-the-wild loco-manipulation with robot-free egocentric demonstration"},"hub":{"state":{"work_id":"f3c73768-a32a-4ca8-a82a-df849feb6284","tier":"hub","tier_reason":"10+ Pith inbound or 1,000+ external citations","pith_inbound_count":15,"external_cited_by_count":null,"distinct_field_count":2,"first_pith_cited_at":"2026-03-12T10:02:23+00:00","last_pith_cited_at":"2026-06-26T14:34:04+00:00","author_build_status":"not_needed","summary_status":"needed","contexts_status":"needed","graph_status":"needed","ask_index_status":"not_needed","reader_status":"not_needed","recognition_status":"not_needed","updated_at":"2026-07-04T01:06:32.768074+00:00","tier_text":"hub"},"tier":"hub","role_counts":[{"context_role":"background","n":2},{"context_role":"method","n":1}],"polarity_counts":[{"context_polarity":"background","n":2},{"context_polarity":"use_method","n":1}],"runs":{},"summary":{},"graph":{},"authors":[]}}