相关论文: EgoDex: Learning Dexterous Manipulation from Large…

This research aims to comprehensively explore building a multimodal foundation model for egocentric video understanding. To achieve this goal, we work on three fronts. First, as there is a lack of QA data for egocentric video understanding,…

Communicating in noisy, multi-talker environments is challenging, especially for people with hearing impairments. Egocentric video data can potentially be used to identify a user's conversation partners, which could be used to inform…

Building an interactive AI assistant that can perceive, reason, and collaborate with humans in the real world has been a long-standing pursuit in the AI community. This work is part of a broader research effort to develop intelligent agents…

Egocentric human videos provide a scalable source of manipulation demonstrations; however, deploying them on robots requires active viewpoint control to maintain task-critical visibility, which human viewpoint imitation often fails to…

In this work, we aim to learn dexterous manipulation of deformable objects using multi-fingered hands. Reinforcement learning approaches for dexterous rigid object manipulation would struggle in this setting due to the complexity of physics…

Imitation learning requires high-quality demonstrations consisting of sequences of state-action pairs. For contact-rich dexterous manipulation tasks that require dexterity, the actions in these state-action pairs must produce the right…

Interactive object understanding, or what we can do to objects and how is a long-standing goal of computer vision. In this paper, we tackle this problem through observation of human hands in in-the-wild egocentric videos. We demonstrate…

The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…

Forecasting hand motion and pose from an egocentric perspective is essential for understanding human intention. However, existing methods focus solely on predicting positions without considering articulation, and only when the hands are…

This paper presents a novel approach for pretraining robotic manipulation Vision-Language-Action (VLA) models using a large corpus of unscripted real-life video recordings of human hand activities. Treating human hand as dexterous robot…

Collecting demonstrations enriched with fine-grained tactile information is critical for dexterous manipulation, particularly in contact-rich tasks that require precise force control and physical interaction. While prior works primarily…

In egocentric action recognition a single population model is typically trained and subsequently embodied on a head-mounted device, such as an augmented reality headset. While this model remains static for new users and environments, we…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable video reasoning capabilities across diverse tasks. However, their ability to understand human intent at a fine-grained level in egocentric videos remains largely…

Modeling dexterous hand-object interactions is challenging as it requires understanding how subtle finger motions influence the environment through contact with objects. While recent world models address interaction modeling, they typically…

Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multi-fingered robotic hands. Many existing deep reinforcement learning (DRL) based methods aim at improving sample…

Monocular egocentric 3D human motion capture is a challenging and actively researched problem. Existing methods use synchronously operating visual sensors (e.g. RGB cameras) and often fail under low lighting and fast motions, which can be…

Learning diverse dexterous manipulation behaviors with assorted objects remains an open grand challenge. While policy learning methods offer a powerful avenue to attack this problem, they require extensive per-task engineering and…

Egocentric memory is widely used in embodied intelligence, but it may be insufficient for comprehensive spatial-temporal reasoning. Inspired by human recall from both field and observer perspectives, we introduce EgoExoMem, the first…

Egocentric videos provide valuable insights into human interactions with the physical world, which has sparked growing interest in the computer vision and robotics communities. A critical challenge in fully understanding the geometry and…

Egocentric video has seen increased interest in recent years, as it is used in a range of areas. However, most existing datasets are limited to a single perspective. In this paper, we present the CASTLE 2024 dataset, a multimodal collection…