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[Submitted on 13 Oct 2026] Title:$λ_0$: Scaling Open-World Egocentric Human Data for Humanoid Loco-Manipulation View a PDF of the paper titled $\lambda_0$: Scaling Open-World Egocentric Human Data for Humanoid Loco-Manipulation, by Lambda-humanoid Team View PDF HTML (experimental) Abstract:Humanoid loco-manipulation requires coordinated whole-body interaction with the physical world, yet collecting robot demonstrations at scale remains costly. Human demonstrations offer a scalable alternative, but existing egocentric human supervision often omits locomotion and posture, while embodiment differences and controller dynamics hinder accurate end-effector execution. We introduce HumanVerse, a 500-hour dataset of open-world human loco-manipulation pairing egocentric video with synchronized body and hand motion. Our human-to-humanoid pipeline aligns camera viewpoints and arm appearance, and refines motion references and controller inputs offline to reduce end-effector errors while preserving whole-body coordination. We validate the pipeline through zero-shot transfer to Unitree G1 on representative whole-body manipulation and long-range loco-manipulation tasks, without target-task robot demonstrations. Building on this pipeline, we develop $\lambda_0$, a humanoid foundation model for whole-body loco-manipulation, with robot-aligned human demonstrations providing supervision for mid-training. Increasing whole-body human data consistently improves downstream task progress. $\lambda_0$ achieves 90.0% success on SIMPLE and 62.5% across real-world loco-manipulation tasks. We expect this study to guide scalable whole-body human data collection toward humanoid foundation models for richer interaction with the physical world. Homepage: this https URL Comments: Tech report, 24 pages Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2610.18950 [cs.RO] (or arXiv:2610.18950v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.18950 arXiv-issued DOI via DataCite (pending registration) Submission history From: Yilun Chen [view email] [v1] Tue, 13 Oct 2026 17:40:58 UTC (8,621 KB) Full-text links: Access Paper: View a PDF of the paper titled $\lambda_0$: Scaling Open-World Egocentric Human Data for Humanoid Loco-Manipulation, by Lambda-humanoid Team View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)