Hosts: Junfan Zhu, Aurora Feng
discord.gg/WH7DrTHRXK
Robotics & World Models Reading Club 13: HumanEgo: Train Robot Policy from 30 min Egocentric Videos — SF 0620
Robotics & World Models Reading Club 13: HumanEgo: Let Everyone Train Robot Policy from 30 min Human Egocentric Videos — SF 0620
A high-signal reading group for AI researchers & builders pushing the frontiers of robotic world models, WAMs, and embodied intelligence. In our previous sessions, we brought together researchers and engineers from Boston Dynamics, Google DeepMind, NVIDIA, Stanford, UC Berkeley, Dyna, Physical Intelligence, Tesla, Generalist, Rhoda AI, and leading Bay Area robotics startups.
Hosted by Junfan Zhu & Aurora Feng.
Supported by Neural Motion, a universal cross-embodiment data representation layer for embodied AI.
Reading Club 13's Core Theme
HumanEgo: Let everyone train their own robot policy from 30 minutes of human egocentric videos.
Keynote by Zhi (Leo) Wang (Amazon FAR, UMD) tx-leo.github.io
Vision-language models leverage the internet as a vast learning resource, yet robot policy learning remains bottlenecked by teleoperation — expensive, hardware-coupled, and confined to the lab. This talk argues that human egocentric video can serve as a new data interface for robot learning, decoupling data collection from robot hardware so that anyone can teach a robot from just minutes of recording.
The talk centers on HumanEgo, a framework that learns deployable bimanual manipulation policies from minutes of human egocentric video — without any robot data, robot-specific post-training, or internet-scale pretraining. At its core is an entity-level representation of hand–object interaction (Interaction-Centric Tokens), combined with a flow matching policy and dense auxiliary objectives that amplify supervision from every trajectory. With 30 minutes of human video per task, HumanEgo achieves 92.5% success across four real-world tasks, outperforms matched-time robot teleoperation by 41%, and transfers zero-shot to novel robots, cameras, and environments.
The talk closes with what this paradigm implies for the future of robot learning: when data collection moves from the lab to the world, the bottleneck shifts from data quantity to interface design.
Pre-Readings
HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos Website: https://humanego-ai.github.io
Paper: https://arxiv.org/abs/2605.24934
Code: https://github.com/TX-Leo/HumanEgo
X: https://x.com/TX_Leo_Wang/status/2059320921228546220 (Highly recommend)
Related Works EgoVerse: https://arxiv.org/abs/2604.07607
EgoMimic: https://arxiv.org/abs/2410.24221
EgoBridge: https://arxiv.org/abs/2509.19626
EMMA: https://arxiv.org/abs/2509.04443
EgoZero: https://arxiv.org/abs/2505.20290
AINA: https://arxiv.org/abs/2511.16661
EgoVLA: https://arxiv.org/abs/2507.12440
EgoScale: https://arxiv.org/abs/2602.16710
EgoDex: https://arxiv.org/abs/2505.11709
Location
San Francisco (Downtown)
Date & Time
Saturday, June 20, 2026 | 2:00 PM – 5:00 PM
Join Discord Community
https://discord.gg/WH7DrTHRXK
Follow Saturday Robotics on X
https://x.com/saturdayrobotic
Agenda
2:00 PM – 2:30 PM Door Opens & Social
Food 😋, beverages🧋 and UNLIMITED strawberries 🍓 (our official reading club fruits ☺️😄).
2:30 PM – 4:00 PM Keynote by Zhi (Leo) Wang (Amazon FAR, UMD) tx-leo.github.io
Online access via Zoom: TBD
YouTube Recording: TBD (We are looking for recording volunteers)
4:00 PM – 5:00 PM Q&A, open-floor roundtable (10–20 min per topic) on spotlight papers or any paper you’d like to highlight. Feel free to share why the paper matters and its technical details.
Future events
TBD
Past events
#reading-club-12-0523: Origami Robotics (YC W26) on Dexterity
Session 12 Luma: https://luma.com/5w7c1t2a
Reading Club 12 Review:
#cvpr-denver-11-0606: 🤖🥘 Saturday Robotics x Manycore Tech x Neural Motion | CVPR 2026 Denver Research Night | Robotics & World Models Reading Club 11
Junfan Zhu & Aurora Feng, Founders of Saturday Robotics
Anthony Zhao, Head of North America at Manycore Tech SpacialVerse
Aurora Feng, Founder at Neural Motion. NM-GenET.
Max Zhaoshuo Li, Robotics and World Model Tech Lead at NVIDIA Cosmos. Cosmos 3.
Xiaofan Li, World Model Tech Lead at X Square Robot. WALL-WM.
Zesen Zhao, University of Michigan. Test-Time Scaling for World Action Models via Zero-Shot Geometric Verification.
Pengyi Liao. VGGT-Ω: From 3D Reconstruction to Scalable Spatial Representation.
Jie Wang, University of Pennsylvania, GRASP Lab. Toward a Robotics MMLU: Lessons from Sim & Real Evaluations of Generalist Policies.
CVPR Denver Luma: https://luma.com/zamm9g2g
CVPR Denver Review:
#reading-club-10-0530: Bringing Robots to Life — Learning Humanoid Instincts from the Body Up | San Francisco 0530
Haochen Shi (Stanford, co-advised by Karen Liu & Shuran Song)
Session 10 Luma: https://luma.com/czz76qe1
Reading Club 10 Recap: https://x.com/junfanzhu98/status/2061145697693683878?s=20
#private-dinner-01-0529: Robo Plov x Saturday Robotics
Private Dinner 01 Luma: https://luma.com/3rzqwond
Private Dinner 01 Review: https://www.linkedin.com/posts/junfan-zhu_saturday-robotics-was-excited-to-host-its-activity-7466384182190182400-Zgnv?utm_source=share&utm_medium=member_desktop&rcm=ACoAABxP-p0BpUNGDf347aKh_1uJAPzG4er0As8
#reading-club-09-0523: CVPR Warm-up & Founders Spotlight — DeltaWorld + VisuoTactile Dexterous Hands
Tommie Kerssies (Amazon Frontier AI & Robotics)
Arjun Subramaniam (Factory Intelligence)
Session 09 Luma: https://luma.com/wooiz0bf
Reading Club 09 Review: Part 1: Robotics & World Model Reading Club 9.1: CVPR Warm-up— A Frame is Worth 1 Token: DeltaToken. https://x.com/junfanzhu98/status/2058449627184267621?s=20
Reading Club 09 Review: Part 2: Robotics & World Model Reading Club 9.2: Tactile Sensor & Reliable Manipulation in Production. https://x.com/junfanzhu98/status/2058461947637694948?s=20
#reading-club-08-0516: Embodied Human Data as the “Internet of Motion and Behavior”
Ryan Punamiya (NVIDIA Gear, Georgia Tech)
Session 08 Luma: https://luma.com/qoxioge7
Reading Club 08 Review: https://x.com/junfanzhu98/status/2055915875493204439?s=20
#reading-club-07-0509: Learning to Dream: World Models, Imagination, Path to Foundation Models for Control
Ahmet Şemi ASARKAYA (Agility Robotics)
Session 07 Luma: https://luma.com/srhe0vuo
Reading Club 07 Review: https://x.com/junfanzhu98/status/2053387034241454397?s=20
#reading-club-06-0502: Evolution of Video World Models for Robotics
Session 06 Luma: https://luma.com/sdrd4zwr
Reading Club 06 Review: https://x.com/junfanzhu98/status/2050834699275383008?s=20
#reading-club-05-0425: World Models for Physical Intelligence: From Predictive Brains to Embodied Robots
Daniel Dugas & Sergio Arnaud (Meta FAIR)
Session 05 Luma: https://luma.com/p7zvpyvg
Reading Club 05 Review: https://x.com/junfanzhu98/status/2048315020946317710?s=20
YouTube Recording: https://youtu.be/RVy6oQXNDgc?si=u2VLtCBjfdMvXaf-
#reading-club-04-0418: Abstractions of the Physical World for Decision-Making
Siming He (UC Berkeley)
Session 04 Luma: https://luma.com/atv7bm3i
Reading Club 04 Review: https://x.com/junfanzhu98/status/2045770010979905862
YouTube Recording: https://www.youtube.com/@saturdayrobotic
#reading-club-03-0411: Robotic Policy Adaptation
Haoyi Niu (UC Berkeley)
Session 03 Luma: https://luma.com/561xgirg
Reading Club 03 Review: https://x.com/junfanzhu98/status/2043243484568768519?s=20
YouTube Recording: https://www.youtube.com/@saturdayrobotic
#reading-club-02-0404: JEPA Zoo
Julian Saks (https://x.com/JulianSaks)
Session 02 Luma: https://luma.com/g3qrrti0
Reading Club 02 Review (liked by Yann LeCun on X): https://x.com/junfanzhu98/status/2040716119259164673?s=20
#reading-club-01-0328
Session 01 Luma: https://luma.com/8s4w1wu6
Reading Club 01 Review (liked by Yann LeCun on X): https://x.com/junfanzhu98/status/2038153945219305812
Logistics
Spots are limited. Please arrive by 2:00 PM for check-in. Keynote will begin promptly at 2:30 PM.
We currently do not have volunteers available to assist with late check-ins. Given the high volume of inquiries and 100+ attendees (both online and onsite), we kindly ask that you arrive on time to ensure smooth entry.
Hosts: Junfan Zhu, Aurora Feng
discord.gg/WH7DrTHRXK