相关论文: Egocentric Video Task Translation

Learning an agent model that behaves like humans-capable of jointly perceiving the environment, predicting the future, and taking actions from a first-person perspective-is a fundamental challenge in computer vision. Existing methods…

Face performance capture and reenactment techniques use multiple cameras and sensors, positioned at a distance from the face or mounted on heavy wearable devices. This limits their applications in mobile and outdoor environments. We present…

Ultra-long egocentric videos spanning multiple days present significant challenges for video understanding. Existing approaches still rely on fragmented local processing and limited temporal modeling, restricting their ability to reason…

We propose a self-supervised algorithm to learn representations from egocentric video data. Recently, significant efforts have been made to capture humans interacting with their own environments as they go about their daily activities. In…

We present EgoFun3D, a coordinated task formulation, dataset, and benchmark for modeling interactive 3D objects from egocentric videos. Interactive objects are of high interest for embodied AI but scarce, making modeling from readily…

Egocentric video-language understanding demands both high efficiency and accurate spatial-temporal modeling. Existing approaches face three key challenges: 1) Excessive pre-training cost arising from multi-stage pre-training pipelines, 2)…

Imitation learning based visuomotor policies have achieved strong performance in robotic manipulation, yet they often remain sensitive to egocentric viewpoint shifts. Unlike third-person viewpoint changes that only move the camera,…

Grounding textual expressions on scene objects from first-person views is a truly demanding capability in developing agents that are aware of their surroundings and behave following intuitive text instructions. Such capability is of…

Egocentric video generation with fine-grained control through body motion is a key requirement towards embodied AI agents that can simulate, predict, and plan actions. In this work, we propose EgoControl, a pose-controllable video diffusion…

We introduce a gradient-based approach for learning task graphs from procedural activities, improving over hand-crafted methods. Our method directly optimizes edge weights via maximum likelihood, enabling integration into neural…

Vision Language Models (VLMs) have achieved strong performance across diverse video understanding tasks. However, their viewpoint invariant training limits their ability to understand egocentric properties (e.g., human object interactions)…

Humans can rearrange objects in cluttered environments using egocentric perception, navigating occlusions without global coordinates. Inspired by this capability, we study long-horizon multi-object non-prehensile rearrangement for mobile…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

For reliable autonomous robot navigation in urban settings, the robot must have the ability to identify semantically traversable terrains in the image based on the semantic understanding of the scene. This reasoning ability is based on…

We introduce EgoToM, a new video question-answering benchmark that extends Theory-of-Mind (ToM) evaluation to egocentric domains. Using a causal ToM model, we generate multi-choice video QA instances for the Ego4D dataset to benchmark the…

In this report, we present the transferring pretrained video mask autoencoders(VideoMAE) to egocentric tasks for Ego4d Looking at me Challenge. VideoMAE is the data-efficient pretraining model for self-supervised video pre-training and can…

As the prevalence of wearable devices, learning egocentric motions becomes essential to develop contextual AI. In this work, we present EgoLM, a versatile framework that tracks and understands egocentric motions from multi-modal inputs,…

Object understanding in egocentric visual data is arguably a fundamental research topic in egocentric vision. However, existing object datasets are either non-egocentric or have limitations in object categories, visual content, and…

Multimodal Large Language Models (MLLMs) have recently achieved remarkable progress in vision-language understanding. Yet, human perception is inherently multisensory, integrating sight, sound, and motion to reason about the world. Among…

The scale and diversity of demonstration data required for imitation learning is a significant challenge. We present EgoMimic, a full-stack framework which scales manipulation via human embodiment data, specifically egocentric human videos…