相关论文: Understanding Dynamic Scenes in Ego Centric 4D Poi…
Recent advancements in Multi-modal Large Language Models (MLLMs) have opened new avenues for applications in Embodied AI. Building on previous work, EgoThink, we introduce VidEgoThink, a comprehensive benchmark for evaluating egocentric…
Understanding how the surrounding environment changes is crucial for performing downstream tasks safely and reliably in autonomous driving applications. Recent occupancy estimation techniques using only camera images as input can provide…
We introduce Ego-R1, a novel framework for reasoning over ultra-long (i.e., in days and weeks) egocentric videos, which leverages a structured Chain-of-Tool-Thought (CoTT) process, orchestrated by an Ego-R1 Agent trained via reinforcement…
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…
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 gestures are the most natural form of communication for humans to interact with wearable devices such as VR/AR helmets and glasses. A major issue in such scenarios for real-world applications is that may easily become necessary…
Dynamic scene reconstruction is essential in robotic minimally invasive surgery, providing crucial spatial information that enhances surgical precision and outcomes. However, existing methods struggle to address the complex, temporally…
Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…
Generative world models have become essential data engines for autonomous driving, yet most existing efforts focus on videos or occupancy grids, overlooking the unique LiDAR properties. Extending LiDAR generation to dynamic 4D world…
3D multimodal question answering (MQA) plays a crucial role in scene understanding by enabling intelligent agents to comprehend their surroundings in 3D environments. While existing research has primarily focused on indoor household tasks…
In this work, we introduce (a) the new problem of anticipating object state changes in images and videos during procedural activities, (b) new curated annotation data for object state change classification based on the Ego4D dataset, and…
In real-world environments, AI systems often face unfamiliar scenarios without labeled data, creating a major challenge for conventional scene understanding models. The inability to generalize across unseen contexts limits the deployment of…
Spatiotemporal intelligence in autonomous driving (AD) requires an agent to integrate multi-view observations into a coherent scene representation, maintain object continuity across viewpoints and time, and reason about spatial relations,…
The integration of brain-computer interfaces (BCIs), in particular electroencephalography (EEG), with artificial intelligence (AI) has shown tremendous promise in decoding human cognition and behavior from neural signals. In particular, 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 emergence of multimodal large language models (MLLMs) has driven breakthroughs in egocentric vision applications. These applications necessitate persistent, context-aware understanding of objects, as users interact with tools in dynamic…
Indoor scene modification has emerged as a prominent area within computer vision, particularly for its applications in Augmented Reality (AR) and Virtual Reality (VR). Traditional methods often rely on pre-existing object databases and…
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…
Indoor environments evolve as objects move, appear, or leave the scene. Capturing these dynamics requires maintaining temporally consistent instance identities across intermittently captured 3D scans, even when changes are unobserved. We…
The rapid evolution of egocentric video analysis brings new insights into understanding human activities and intentions from a first-person perspective. Despite this progress, the fragmentation in tasks like action recognition, procedure…