相关论文: EgoScale: Scaling Dexterous Manipulation with Dive…

Scaling dexterous robot learning is constrained by the difficulty of collecting high-quality demonstrations across diverse operators. Existing wearable interfaces often trade comfort and cross-user adaptability for kinematic fidelity, while…

Understanding affect is central to anticipating human behavior, yet current egocentric vision benchmarks largely ignore the person's emotional states that shape their decisions and actions. Existing tasks in egocentric perception focus on…

Egocentric human video data, which captures rich human-environment interactions and can be collected at scale, has become a key driver of embodied intelligence research. However, existing egocentric datasets typically lack tactile sensing,…

To enable a safe and effective human-robot cooperation, it is crucial to develop models for the identification of human activities. Egocentric vision seems to be a viable solution to solve this problem, and therefore many works provide deep…

While Vision-Language-Action (VLA) models have demonstrated promising generalization capabilities in robotic manipulation, deploying them on specific and complex downstream tasks still demands effective post-training. In parallel,…

Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…

Vision-Language-Action (VLA) models have recently become a central direction in embodied AI, but current systems are restricted to either dual-gripper control or single-arm dexterous hand manipulation. While low-dimensional gripper control…

We present DexCanvas, a large-scale hybrid real-synthetic human manipulation dataset containing 7,000 hours of dexterous hand-object interactions seeded from 70 hours of real human demonstrations, organized across 21 fundamental…

Different video understanding tasks are typically treated in isolation, and even with distinct types of curated data (e.g., classifying sports in one dataset, tracking animals in another). However, in wearable cameras, the immersive…

Vision-language-action (VLA) models have enabled language-conditioned, long-horizon robot manipulation, but most existing systems are limited to grippers. Scaling VLA policies to bimanual robots with high degree-of-freedom (DoF) dexterous…

This paper focuses on the scalable robot learning for manipulation in the dexterous robot arm-hand systems, where the remote human-robot interactions via augmented reality (AR) are established to collect the expert demonstration data for…

Large-scale pre-training using egocentric human videos has proven effective for robot learning. However, the models pre-trained on such data can be suboptimal for robot learning due to the significant visual gap between human hands and…

As the prevalence of wearable devices, learning egocentric motions becomes essential to develop contextual AI. In this work, we present EgoLM, a versatile framework that tracks and understands egocentric motions from multi-modal inputs,…

Eye-in-hand cameras have shown promise in enabling greater sample efficiency and generalization in vision-based robotic manipulation. However, for robotic imitation, it is still expensive to have a human teleoperator collect large amounts…

We study how visual representations pre-trained on diverse human video data can enable data-efficient learning of downstream robotic manipulation tasks. Concretely, we pre-train a visual representation using the Ego4D human video dataset…

Achieving human-level dexterity is an important open problem in robotics. However, tasks of dexterous hand manipulation, even at the baby level, are challenging to solve through reinforcement learning (RL). The difficulty lies in the high…

We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…

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…

One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid…

Estimating 3D human motion from an egocentric video sequence plays a critical role in human behavior understanding and has various applications in VR/AR. However, naively learning a mapping between egocentric videos and human motions is…