相关论文: The N-Body Problem: Parallel Execution from Single…

Multimodal large language models (MLLMs) are increasingly considered as a foundation for embodied agents, yet it remains unclear whether they can reliably reason about the long-term physical consequences of actions from an egocentric…

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…

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…

Future activity anticipation is a challenging problem in egocentric vision. As a standard future activity anticipation paradigm, recursive sequence prediction suffers from the accumulation of errors. To address this problem, we propose a…

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…

The egocentric and exocentric viewpoints of a human activity look dramatically different, yet invariant representations to link them are essential for many potential applications in robotics and augmented reality. Prior work is limited to…

We address the problem of learning a single model for person re-identification, attribute classification, body part segmentation, and pose estimation. With predictions for these tasks we gain a more holistic understanding of persons, which…

Human actions in egocentric videos are often hand-object interactions composed from a verb (performed by the hand) applied to an object. Despite their extensive scaling up, egocentric datasets still face two limitations - sparsity of action…

Complex physical tasks entail a sequence of object interactions, each with its own preconditions -- which can be difficult for robotic agents to learn efficiently solely through their own experience. We introduce an approach to discover…

We address goal-based imitation learning, where the aim is to output the symbolic goal from a third-person video demonstration. This enables the robot to plan for execution and reproduce the same goal in a completely different environment.…

Recovering temporally consistent 3D human body pose, shape and motion from a monocular video is a challenging task due to (self-)occlusions, poor lighting conditions, complex articulated body poses, depth ambiguity, and limited availability…

Generating visual instructions in a given context is essential for developing interactive world simulators. While prior works address this problem through either text-guided image manipulation or video prediction, these tasks are typically…

We present an approach to robot learning from egocentric human videos by modeling human preferences in a reward function and optimizing robot behavior to maximize this reward. Prior work on reward learning from human videos attempts to…

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…

Anticipating human actions is an important task that needs to be addressed for the development of reliable intelligent agents, such as self-driving cars or robot assistants. While the ability to make future predictions with high accuracy is…

In this report, we present our solutions to the EgoVis Challenges in CVPR 2024, including five tracks in the Ego4D challenge and three tracks in the EPIC-Kitchens challenge. Building upon the video-language two-tower model and leveraging…

Wearable cameras are becoming more and more popular in several applications, increasing the interest of the research community in developing approaches for recognizing actions from the first-person point of view. An open challenge in…

This paper presents an unsupervised approach towards automatically extracting video-based guidance on object usage, from egocentric video and wearable gaze tracking, collected from multiple users while performing tasks. The approach i)…

This work focuses on tracking and understanding human motion using consumer wearable devices, such as VR/AR headsets, smart glasses, cellphones, and smartwatches. These devices provide diverse, multi-modal sensor inputs, including…

In this work we employ multitask learning to capitalize on the structure that exists in related supervised tasks to train complex neural networks. It allows training a network for multiple objectives in parallel, in order to improve…