相关论文: SFHand: Learning Embodied Manipulation by Streamin…

We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…

Articulated hand pose tracking is an under-explored problem that carries the potential for use in an extensive number of applications, especially in the medical domain. With a robust and accurate tracking system on surgical videos, the…

Embodied agents can benefit from skills that guide object search, action execution, and state changes across diverse environments. Since embodied environments vary across layouts, object states, and other execution factors, these skills…

Egocentric video-language pretraining is a crucial step in advancing the understanding of hand-object interactions in first-person scenarios. Despite successes on existing testbeds, we find that current EgoVLMs can be easily misled by…

We present a new computational model for gaze prediction in egocentric videos by exploring patterns in temporal shift of gaze fixations (attention transition) that are dependent on egocentric manipulation tasks. Our assumption is that the…

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…

Understanding the world in first-person view is fundamental in Augmented Reality (AR). This immersive perspective brings dramatic visual changes and unique challenges compared to third-person views. Synthetic data has empowered…

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…

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…

This paper investigates the problem of understanding dynamic 3D scenes from egocentric observations, a key challenge in robotics and embodied AI. Unlike prior studies that explored this as long-form video understanding and utilized…

Estimating 3D hand pose directly from RGB imagesis challenging but has gained steady progress recently bytraining deep models with annotated 3D poses. Howeverannotating 3D poses is difficult and as such only a few 3Dhand pose datasets are…

Tactile sensing is crucial for robotic hands to achieve human-level dexterous manipulation, especially in scenarios with visual occlusion. However, its application is often hindered by the difficulty of collecting large-scale real-world…

Egocentric human motion generation and forecasting with scene-context is crucial for enhancing AR/VR experiences, improving human-robot interaction, advancing assistive technologies, and enabling adaptive healthcare solutions by accurately…

Predicting when to initiate speech in real-world environments remains a fundamental challenge for conversational agents. We introduce EgoSpeak, a novel framework for real-time speech initiation prediction in egocentric streaming video. By…

In general, hand pose estimation aims to improve the robustness of model performance in the real-world scenes. However, it is difficult to enhance the robustness since existing datasets are obtained in restricted environments to annotate 3D…

In this paper, we present a method to detect the hand-object interaction from an egocentric perspective. In contrast to massive data-driven discriminator based method like \cite{Shan20}, we propose a novel workflow that utilises the cues of…

Previous works concerning single-view hand-held object reconstruction typically rely on supervision from 3D ground-truth models, which are hard to collect in real world. In contrast, readily accessible hand-object videos offer a promising…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

Hand pose estimation from egocentric video has broad implications across various domains, including human-computer interaction, assistive technologies, activity recognition, and robotics, making it a topic of significant research interest.…

The incorporation of world modeling into manipulation policy learning has pushed the boundary of manipulation performance. However, existing efforts simply model the 2D visual dynamics, which is insufficient for robust manipulation when…