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cs.RO2026
IronMind: Scaling Humanoid Dexterous Manipulation via Camera-Space Ego-Centric Pretraining
Huimin Pan, Yufan Ren, Kunpeng Song +16
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 hand…
cs.RO2026
Principal Steering Subspaces for Online Adaptation of Frozen Generative Robot Policies
Jialeng Ni, Nathan Zhao, Kunpeng Song
Generative robot policies provide expressive behavior priors, but updating a large diffusion or flow-matching model through online interaction is costly. Latent-space reinforcement…