EgoHumanoid-V2: תרגום-טכני של כישורי גוף שלם לאנושי-להומנואיד

תקציר מקורי באנגליתarXiv:2609.37181v1 Announce Type: cross 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