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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Nathan Zhao

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2 papers indexed here

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Preprint Sep 2026

IronMind: Scaling Humanoid Dexterous Manipulation via Camera-Space Ego-Centric Pretraining

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 hands differ structurally from robot end-effectors and low-cost egocentric recordings lack the torso kinematics required by conventional retarge...

Hui-Min Pan, Y. Ren, Kun-Peng Song et al. · 0 citations
Preprint Sep 2026

Principal Steering Subspaces for Online Adaptation of Frozen Generative Robot Policies

Generative robot policies provide expressive behavior priors, but updating a large diffusion or flow-matching model through online interaction is costly. Latent-space reinforcement learning avoids updating the pretrained generator by controlling its initial sampling noise, yet high-dimensional noise can have strongly a...

Jia-Leng Ni, Nathan Zhao, Kun-Peng Song · 0 citations

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