Author

Zi-Hao Zhu

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Preprint Oct 2026

Ego-CEVR: Learning Cross-Embodiment Visual Representations from Human Egocentric Videos

As egocentric video becomes increasingly available for embodied learning, an important research question is how to turn this low-cost, scalable source of data into robot manipulation capabilities. Egocentric videos naturally provide rich context for high-level task understanding, while real-robot demonstrations with wr...

Ke-Ru Zhou, Zhi-Rui Fang, Xin-Run Xu et al. · 0 citations

#machine learning Preprint Oct 2026

Contextual Credit Policy Optimization

Contextual Credit Policy Optimization weights observation-matched peers from other trajectories by contextual similarity, computed from frozen LLM representations and accumulated trajectory statistics, allowing peers from similar contexts to contribute more to a step's baseline.

Hui-Wen Han, Zi-Yao Zeng, Zi-Hao Zhu et al. · 0 citations