Author

Bo Zhang

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Preprint Oct 2026

EXE: Egocentric Cross-Embodiment Pretraining via Factorized Latent Actions for VLA Models

Vision-Language-Action (VLA) models are bottlenecked by the scarcity of robot data. Egocentric human manipulation videos offer an abundant, diverse, and semantically-rich alternative that inherently captures manipulation intent. However, the embodiment gap makes it difficult to extract action-relevant representations f...

Qing-Yuan Cai, Bo Zhang, Yong-Zhen Huang et al. · 0 citations