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Muyun Jiang

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Preprint Aug 2026

HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing

Robotic manipulation with dexterous hands is a cornerstone of Embodied AI, yet its progress is stifled by the high cost of collecting embodiment-aware teleoperation data. While abundant egocentric videos of human hands offer a scalable alternative, the profound discrepancies in appearance, articulation, and camera viewpoints between human and robotic data raise significant challenges for co-training. Though existing general image-editing models demonstrate strong capabilities, they lack necessary embodiment-specific priors to fully bridge this gap. In this work, we present HandEdit, a unified large-scale embodiment-aware image-editing dataset and benchmark specifically designed to transform human hands and arms into various dexterous robotic embodiments within egocentric frames. HandEdit comprises over 200M editing instances derived from five diverse source datasets, covering 26 distinct URDFs, including 13 hand-only and 13 hand-arm configurations. Alongside the dataset, we establish a unified benchmark protocol with two tracks: Hand-only and Hand-Arm, supporting URDF-conditioned evaluation. We conduct extensive evaluations of 11 representative image-editing baselines using a multi-dimensional metric suite, including generic similarity metrics, VLM-based judgment, and embodiment-aware metrics. HandEdit serves as a critical resource at the intersection of image editing and robotics: it advances embodiment-aware editing models while enabling scalable dexterous robotic learning from abundant human video data, paving the way for more generalizable Embodied AI.

Zhenjie Yang, Xingyu Jiao, Guopeng Zhong et al. · 1 citation

Preprint Aug 2026

EEG-PRIME: Prototype-Aligned Representation Learning with Multi-Level Conditioning for EEG Decoding

Electroencephalography (EEG) decoding models often generalize poorly across datasets and subjects due to domain shifts in acquisition protocols and individual neurophysiology. We propose EEG-PRIME, a two-stage EEG foundation model for cross-dataset multi-task decoding. EEG-PRIME combines masked pretraining with prototype-aligned instruction tuning to enable instruction-aware and subject-invariant decoding across diverse BCI paradigms. During pretraining, an EEG encoder learns transferable representations through masked reconstruction with frequency-cutoff spectral augmentation. During instruction tuning, EEG-PRIME incorporates task-semantic, dataset-specific, and subject-invariant conditioning. The resulting conditioning signal modulates the Q-Former through Layer-wise Query Modulation, while frozen text embeddings of class labels serve as prototypes for cosine-similarity-based prediction across heterogeneous label spaces. Experiments on sixteen datasets covering motor imagery, emotion recognition, ADHD detection, covert speech, and mental workload show consistent improvements over state-of-the-art baselines and prior EEG foundation models under cross-subject settings. On two additional held-out datasets, EEG-PRIME achieves balanced accuracy comparable to within-session calibration models without target-domain optimization, calibration, or linear probing, demonstrating promising zero-shot transfer capability.

Shuailei Zhang, Muyun Jiang, Wei Zhang et al. · 0 citations