相关论文: Zero-Shot Temporal Interaction Localization for Eg…

Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging,…

Zero-shot human-object interaction (HOI) detection remains a challenging task, particularly in generalizing to unseen actions. Existing methods address this challenge by tapping Vision-Language Models (VLMs) to access knowledge beyond the…

Existing temporal action detection (TAD) methods rely on large training data including segment-level annotations, limited to recognizing previously seen classes alone during inference. Collecting and annotating a large training set for each…

In this paper, we propose a method to jointly determine the status of hand-object interaction. This is crucial for egocentric human activity understanding and interaction. From a computer vision perspective, we believe that determining…

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…

We introduce the task of Reconstructing Objects along Hand Interaction Timelines (ROHIT). We first define the Hand Interaction Timeline (HIT) from a rigid object's perspective. In a HIT, an object is first static relative to the scene, then…

Learning to infer labels in an open world, i.e., in an environment where the target ``labels'' are unknown, is an important characteristic for achieving autonomy. Foundation models, pre-trained on enormous amounts of data, have shown…

Generating long, coherent egocentric videos is difficult, as hand-object interactions and procedural tasks require reliable long-term memory. Existing autoregressive models suffer from content drift, where object identity and scene…

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…

State-of-the-art temporal action detectors inefficiently search the entire video for specific actions. Despite the encouraging progress these methods achieve, it is crucial to design automated approaches that only explore parts of the video…

We aim to learn to temporally localize object state changes and the corresponding state-modifying actions by observing people interacting with objects in long uncurated web videos. We introduce three principal contributions. First, we…

To serve as a scalable data source for embodied AI, world models should act as true simulators that infer interaction dynamics strictly from user actions, rather than mere conditional video generators relying on privileged future object…

We consider the problem of transferring a temporal action segmentation system initially designed for exocentric (fixed) cameras to an egocentric scenario, where wearable cameras capture video data. The conventional supervised approach…

Human gaze offers rich supervisory signals for understanding visual attention in complex visual environments. In this paper, we propose Eyes on Target, a novel depth-aware and gaze-guided object detection framework designed for egocentric…

Human-Object Interaction (HOI) detection aims to identify humans and objects within images and interpret their interactions. Existing HOI methods rely heavily on large datasets with manual annotations to learn interactions from visual cues.…

Human and environment sensing are two important topics in Computer Vision and Graphics. Human motion is often captured by inertial sensors, while the environment is mostly reconstructed using cameras. We integrate the two techniques…

Video temporal grounding aims to identify video segments within untrimmed videos that are most relevant to a given natural language query. Existing video temporal localization models rely on specific datasets for training and have high data…

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…

In egocentric videos, actions occur in quick succession. We capitalise on the action's temporal context and propose a method that learns to attend to surrounding actions in order to improve recognition performance. To incorporate the…

We present EgoAllo, a system for human motion estimation from a head-mounted device. Using only egocentric SLAM poses and images, EgoAllo guides sampling from a conditional diffusion model to estimate 3D body pose, height, and hand…