ActiveMimic: Egocentric Video Pretraining with Active Perception
Egocentric human video offers a scalable alternative to robot data for pretraining, yet models pretrained on such video consistently underperform those pretrained on robot data. We attribute this gap to a missing signal, the active perception behavior in egocentric videos, where humans continuously reposition their viewpoint during manipulation, inducing camera motion that standard pipelines treat as noise. To address this, we present ActiveMimic, a pretraining framework that recovers synchronized camera and wrist trajectories from a single body-worn RGB camera, models camera motion as a viewpoint action, and jointly learns active perception and manipulation from in-the-wild egocentric hu...
| Authors | Xingyao Lin, Guojin Zhong, Tianyi Lu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 4 June 2026 |
| Last updated at source | 4 June 2026 |
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