Related papers: Ego2Hands: A Dataset for Egocentric Two-hand Segme…
Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich manipulation behavior across everyday…
3D hand pose estimation in everyday egocentric images is challenging for several reasons: poor visual signal (occlusion from the object of interaction, low resolution & motion blur), large perspective distortion (hands are close to the…
Reliable embodied perception from an egocentric perspective is challenging yet essential for autonomous navigation technology of intelligent mobile agents. With the growing demand of social robotics, near-field scene understanding becomes…
The pursuit of accurate 3D hand pose estimation stands as a keystone for understanding human activity in the realm of egocentric vision. The majority of existing estimation methods still rely on single-view images as input, leading to…
Head-mounted device-based human-computer interaction often requires egocentric recognition of hand gestures and fingertips detection. In this paper, a unified approach of egocentric hand gesture recognition and fingertip detection is…
We consider the problem of detecting Egocentric HumanObject Interactions (EHOIs) in industrial contexts. Since collecting and labeling large amounts of real images is challenging, we propose a pipeline and a tool to generate photo-realistic…
We are interested in anticipating as early as possible the target location of a person's object manipulation action in a 3D workspace from egocentric vision. It is important in fields like human-robot collaboration, but has not yet received…
Egocentric human motion estimation is essential for AR/VR experiences, yet remains challenging due to limited body coverage from the egocentric viewpoint, frequent occlusions, and scarce labeled data. We present EgoPoseFormer v2, a method…
Most sign language handshape datasets are severely limited and unbalanced, posing significant challenges to effective model training. In this paper, we explore the effectiveness of augmenting the training data of a handshape classifier by…
This paper introduces EgoMAGIC (Medical Assistance, Guidance, Instruction, and Correction), an egocentric medical activity dataset collected as part of DARPA's Perceptually-enabled Task Guidance (PTG) program. This dataset comprises 3,355…
Industry 4.0 introduced AI as a transformative solution for modernizing manufacturing processes. Its successor, Industry 5.0, envisions humans as collaborators and experts guiding these AI-driven manufacturing solutions. Developing these…
Tendon-driven robotic hands offer unparalleled dexterity for manipulation tasks, but learning control policies for such systems presents unique challenges. Unlike joint-actuated robotic hands, tendon-driven systems lack a direct one-to-one…
Tracking and reconstructing the 3D pose and geometry of two hands in interaction is a challenging problem that has a high relevance for several human-computer interaction applications, including AR/VR, robotics, or sign language…
Over the past few years there has been major progress in the field of synthetic data generation using simulation based techniques. These methods use high-end graphics engines and physics-based ray-tracing rendering in order to represent the…
Imitation learning from human demonstrations offers a promising approach for robot skill acquisition, but egocentric human data introduces fundamental challenges due to the embodiment gap. During manipulation, humans actively coordinate…
Embodied agents in household environments must plan under partial observation: they need to remember objects, track state changes, and recover when actions fail. Existing benchmarks only partially test this ability. Egocentric video…
We propose to use a model-based generative loss for training hand pose estimators on depth images based on a volumetric hand model. This additional loss allows training of a hand pose estimator that accurately infers the entire set of 21…
Hand motion capture is a popular research field, recently gaining more attention due to the ubiquity of RGB-D sensors. However, even most recent approaches focus on the case of a single isolated hand. In this work, we focus on hands that…
The human hand possesses distinctive features which can reveal gender information. In addition, the hand is considered one of the primary biometric traits used to identify a person. In this work, we propose a large dataset of human hand…
We introduce FEEL (Force-Enhanced Egocentric Learning), the first large-scale dataset pairing force measurements gathered from custom piezoresistive gloves with egocentric video. Our gloves enable scalable data collection, and FEEL contains…