Author

Zi-Wu Song

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Preprint Oct 2026

EgoJEPA: Beyond Retargeting for Dexterous Manipulation from Egocentric Videos

Egocentric human videos offer a scalable alternative to costly robot demonstra- tions, yet transferring their manipulation priors to robot control remains chal- lenging. The commonly adopted retargeting-based approaches convert human wrist and finger poses into embodiment-specific action commands through hand- crafted...

Meng Cao, Can Zhao, Jin-Jie Wei et al. · 0 citations

Preprint Aug 2026

UniReflex: Plug-and-Play Force Control for Pretrained Generative Policies via Fast-Slow Reflex

Generative imitation learning policies excel at trajectory planning but lack closed-loop force regulation, while directly incorporating force modalities often requires redesigning or retraining the network. We present UniReflex, a universal plug-and-play framework that equips frozen generative policies with variable im...

Yan Huang, Shou-Jie Li, Zi-Wu Song et al. · 2 citations · ⚡1