{"id":"https://openalex.org/W7164992005","doi":"https://doi.org/10.48550/arxiv.2606.17200","title":"ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining","display_name":"ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining","publication_year":2026,"publication_date":"2026-06-15","ids":{"openalex":"https://openalex.org/W7164992005","doi":"https://doi.org/10.48550/arxiv.2606.17200"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.17200","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17200","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.17200","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138826614","display_name":"Hao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Hao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082683966","display_name":"Ganlong Zhao","orcid":"https://orcid.org/0000-0002-1612-3641"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Ganlong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138778884","display_name":"Yufei Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yufei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138777650","display_name":"Haotian Hou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hou, Haotian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024110176","display_name":"Guoquan Ye","orcid":"https://orcid.org/0000-0002-0623-9157"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ye, Guoquan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138770034","display_name":"Tongyan Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Tongyan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138774603","display_name":"Chunxiao Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Chunxiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043900893","display_name":"Sicong Huang","orcid":"https://orcid.org/0000-0003-0854-4734"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Siyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138795130","display_name":"Jianbo Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jianbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138773444","display_name":"Xiaogang Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xiaogang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138780249","display_name":"Hongsheng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Hongsheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4115000069141388,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4115000069141388,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.21150000393390656,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.20170000195503235,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6025999784469604},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5979999899864197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5859000086784363},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4661000072956085},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.43130001425743103},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.42179998755455017},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41999998688697815},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3659999966621399}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7214000225067139},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6223000288009644},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6025999784469604},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5979999899864197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5859000086784363},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4661000072956085},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.43130001425743103},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.42179998755455017},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41999998688697815},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40869998931884766},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3659999966621399},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.35910001397132874},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3361999988555908},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32690000534057617},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.3208000063896179},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.3163999915122986},{"id":"https://openalex.org/C132964779","wikidata":"https://www.wikidata.org/wiki/Q2110223","display_name":"Raw data","level":2,"score":0.31520000100135803},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.2957000136375427},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2694000005722046},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2637999951839447}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.17200","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17200","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.17200","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17200","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8","score":0.7122793793678284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-Language-Action":[0],"(VLA)":[1],"models":[2],"benefit":[3],"from":[4,74,124],"large-scale":[5,23,71,169],"and":[6,17,38,53,114,153,181,192],"diverse":[7],"embodied":[8],"data,":[9,155],"yet":[10],"scaling":[11],"robot":[12,39,100,152],"trajectory":[13],"collection":[14],"is":[15],"costly":[16],"labor-intensive.":[18],"Recent":[19],"advances":[20],"show":[21,166],"that":[22,85,139,167],"egocentric":[24,75,82,125,162],"human":[25,37,76,88,126,136,163,170],"videos":[26,89],"provide":[27],"complementary":[28],"real-world":[29,200],"supervision":[30,54,73,123,141,171],"in":[31,46],"pretraining.":[32],"However,":[33],"joint":[34,179],"training":[35,132],"on":[36,109,142,148,188],"data":[40,67],"remains":[41],"challenging":[42],"due":[43],"to":[44,199],"divergences":[45],"action":[47,106,116],"spaces,":[48],"embodiment":[49],"structures,":[50],"temporal":[51],"dynamics,":[52],"quality.":[55],"We":[56,145],"introduce":[57],"ACE-EGO-0,":[58],"a":[59,80,104,130,135],"unified":[60,105,178],"VLA":[61],"pretraining":[62,72,180],"framework":[63],"jointly":[64],"leveraging":[65],"heterogeneous":[66],"sources.":[68],"To":[69,94,118],"extract":[70],"videos,":[77,127],"we":[78,128],"build":[79],"scalable":[81],"video-to-action":[83],"pipeline":[84],"converts":[86],"raw":[87],"into":[90],"robot-format":[91],"pseudo-action":[92,122],"trajectories.":[93],"make":[95],"these":[96],"labels":[97],"comparable":[98],"with":[99,134,157],"demonstrations,":[101],"ACE-EGO-0":[102,147,184],"uses":[103],"representation":[107],"based":[108],"camera-space":[110],"actions,":[111],"morphology":[112],"conditioning,":[113],"time-aligned":[115],"chunking.":[117],"robustly":[119],"leverage":[120],"noisy":[121],"formulate":[129],"reliability-aware":[131,173],"objective":[133],"auxiliary":[137],"loss":[138],"concentrates":[140],"reliable":[143],"signals.":[144],"instantiate":[146],"4.53K":[149],"hours":[150,159],"of":[151,160],"simulation":[154],"together":[156],"1.48K":[158],"pseudo-action-labeled":[161],"data.":[164],"Experiments":[165],"incorporating":[168],"under":[172],"weighting":[174],"consistently":[175],"improves":[176],"both":[177],"supervised":[182],"fine-tuning.":[183],"achieves":[185],"state-of-the-art":[186],"performance":[187],"RoboCasa":[189],"GR1":[190],"TableTop":[191],"RoboTwin":[193],"2.0,":[194],"while":[195],"demonstrating":[196],"strong":[197],"transfer":[198],"bimanual":[201],"manipulation.":[202]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-18T00:00:00"}