EgoHumanoid-V2: Human-to-Humanoid Transfer of Coordinated Whole-Body Skills for Loco-Manipulation

The first egocentric human-to-humanoid skill transfer framework for coordinated whole-body loco-manipulation

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Highlights

The first egocentric human-to-humanoid skill transfer framework for coordinated whole-body loco-manipulation.
Coarse-to-fine action alignment combines kinematic reference correction with dynamics-aware refinement.
Zero-shot skill transfer on four real-world tasks, with analyses of accuracy, policy scores, and collection cost.

EgoHumanoid-V2 overview: human demonstrations undergo visual and action alignment, then supervise a VLA policy for whole-body robot control.

Results

Human Data Collection

Close Laptop

Open Fridge

Pull Curtain

Close Drawer

Unaligned Data · Replay

Close Laptop

Open Fridge

Pull Curtain

Close Drawer

Aligned Data · Inference

Close Laptop

Open Fridge

Pull Curtain

Close Drawer

Scaling Human Demonstrations

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Open Fridge: task scores at 25, 50, 100 and 200 human demonstrations. — Open Fridge

Pull Curtain: task scores at 25, 50, 100 and 200 human demonstrations. — Pull Curtain

Close Drawer

Scores by demonstration budget

Human demos / task	Laptop	Refrigerator	Curtain	Drawer
25	35.00	21.67	40.00	56.67
50	31.67	33.33	38.33	36.67
100	48.33	28.33	50.00	53.33
200	53.33	38.33	53.33	61.67

Action Alignment

H: Initial SONIC rolloutK: Kinematic reference correctionD: Dynamics-aware refinement

Human motion is initialized through SONIC, corrected by offline inverse kinematics, and refined using an MLP response model and iterative execution feedback.

Real-world task score

Mean across four tasks · higher is better

H

21.25%

H + K

47.08%

H + K + D_s

51.67%

Executed endpoint error

Simulation · lower is better

Stage	Position (cm)	Orientation (°)
H	11.21	21.22
H + K	4.45	13.77
H + K + D_s	3.41	6.71

Task scores

Action alignment	Laptop	Refrigerator	Curtain	Drawer	Mean
H	0.00	0.00	28.33	56.67	21.25
H + K	46.67	31.67	51.67	58.33	47.08
H + K + D_s	53.33	38.33	53.33	61.67	51.67

Visual Alignment

Close Laptop

01Human RGB

02Arm-removal mask

03Inpainting

04Robot-arm rendering

Open Fridge

01Human RGB

02Arm-removal mask

03Inpainting

04Robot-arm rendering

Pull Curtain

01Human RGB

02Arm-removal mask

03Inpainting

04Robot-arm rendering

Visual alignment results

Training images	Laptop	Refrigerator	Curtain	Drawer
Human RGB	31.67	16.67	35.00	50.00
+ Arm rendering	51.67	23.33	41.67	—
+ Augmentation	61.67	33.33	33.33	61.67
+ Both	53.33	38.33	53.33	—

Task scores with 200 human demonstrations. Arm rendering is not evaluated for foot-operated drawer closing.