λ_0: Scaling Open-World Egocentric Human Data for Humanoid Loco-Manipulation
We introduce HumanVerse, a 500-hour dataset of open-world human loco-manipulation pairing egocentric video with synchronized body and hand motion.
ProofPaper ↗
Key points
- Humanoid loco-manipulation requires coordinated whole-body interaction with the physical world, yet collecting robot demonstrations at scale remains costly.
- Our human-to-humanoid pipeline aligns camera viewpoints and arm appearance, and refines motion references and controller inputs offline to reduce end-effector errors while preserving whole-body coordination.
- We validate the pipeline through zero-shot transfer to Unitree G1 on representative whole-body manipulation and long-range loco-manipulation tasks, without target-task robot demonstrations.
- Building on this pipeline, we develop λ0, a humanoid foundation model for whole-body loco-manipulation, with robot-aligned human demonstrations providing supervision for mid-training.
Sources (1)
- [1]λ_0: Scaling Open-World Egocentric Human Data for Humanoid Loco-ManipulationHugging Face Daily Papers · Oct 13, 12:00 AM
We introduce HumanVerse, a 500-hour dataset of open-world human loco-manipulation pairing egocentric video with synchronized body and hand motion.
Humanoid loco-manipulation requires coordinated whole-body interaction with the physical world, yet collecting robot demonstrations at scale remains costly.
Extractive summary: sentences quoted from the sources.
Before this
- Oct 12, 2026The Value of Being Wrong: Self-Mined Visual In-Context Learning from Errors
- Oct 12, 2026AReA: Adaptive Receptive-Field Attention for Efficient High-Resolution Diffusion Transformers
- Oct 11, 2026SpecFit: Not All Draft Tokens Cost the Same in Offloaded MoE Inference
- Oct 11, 2026DC-Flow: Target-Conditioned Cyclic Peptide Design via Delayed-Coupling Flow Matching
- Oct 10, 2026Text-Guided Medical Image Segmentation via Residual Aggregation and Dense Alignment Representations
- Oct 10, 2026CAST: Real-Time Motion Capture for Any Skeleton Topology