相关论文: EgoFun3D: Modeling Interactive Objects from Egocen…
The advent of wearable computers enables a new source of context for AI that is embedded in egocentric sensor data. This new egocentric data comes equipped with fine-grained 3D location information and thus presents the opportunity for a…
As AI agents increasingly operate in open, real-world environments, they require a deep synergy of multimodal perception, tool invocation with multi-hop reasoning, and dynamic interaction with users. However, existing benchmarks fail to…
Egocentric video provides a unique view into human perception and interaction, with growing relevance for augmented reality, robotics, and assistive technologies. However, rapid camera motion and complex scene dynamics pose major challenges…
Understanding social interactions from egocentric views is crucial for many applications, ranging from assistive robotics to AR/VR. Key to reasoning about interactions is to understand the body pose and motion of the interaction partner…
We introduce EgoPoints, a benchmark for point tracking in egocentric videos. We annotate 4.7K challenging tracks in egocentric sequences. Compared to the popular TAP-Vid-DAVIS evaluation benchmark, we include 9x more points that go…
We introduce EgoSim, a closed-loop egocentric world simulator that generates spatially consistent interaction videos and persistently updates the underlying 3D scene state for continuous simulation. Existing egocentric simulators either…
Visual queries 3D localization (VQ3D) is a task in the Ego4D Episodic Memory Benchmark. Given an egocentric video, the goal is to answer queries of the form "Where did I last see object X?", where the query object X is specified as a static…
A robot's ability to anticipate the 3D action target location of a hand's movement from egocentric videos can greatly improve safety and efficiency in human-robot interaction (HRI). While previous research predominantly focused on semantic…
We introduce an approach for pre-training egocentric video models using large-scale third-person video datasets. Learning from purely egocentric data is limited by low dataset scale and diversity, while using purely exocentric…
Given a raw video sequence taken from a freely-moving camera, we study the problem of decomposing the observed 3D scene into a static background and a dynamic foreground containing the objects that move in the video sequence. This task is…
Capturing interaction of hands with objects is important to autonomously detect human actions from egocentric videos. In this work, we present a pyramid video transformer with a dynamic class token generator for egocentric action…
Humans excel at multisensory perception and can often recognise object properties from the sound of their interactions. Inspired by this, we propose the novel task of Collision Sound Source Segmentation (CS3), where we aim to segment the…
With the availability of egocentric 3D hand-object interaction datasets, there is increasing interest in developing unified models for hand-object pose estimation and action recognition. However, existing methods still struggle to recognise…
Articulation perception aims to recover the motion and structure of articulated objects (e.g., drawers and cupboards), and is fundamental to 3D scene understanding in robotics, simulation, and animation. Existing learning-based methods rely…
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 address key limitations in existing datasets and models for task-oriented hand-object interaction video generation, a critical approach of generating video demonstrations for robotic imitation learning. Current datasets, such as Ego4D,…
Learning to perform activities through demonstration requires extracting meaningful information about the environment from observations. In this research, we investigate the challenge of planning high-level goal-oriented actions in a…
Embodied agents in household environments must plan under partial observation: they need to remember objects, track state changes, and recover when actions fail. Existing benchmarks only partially test this ability. Egocentric video…
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…
Forecasting future 3D hand pose sequences from egocentric video is essential for understanding human intention and enabling embodied applications such as AR/VR assistance and human-robot interaction. However, this task remains a highly…