相关论文: MobileEgo Anywhere: Open Infrastructure for long h…

We introduce HOT3D, a publicly available dataset for egocentric hand and object tracking in 3D. The dataset offers over 833 minutes (3.7M+ images) of recordings that feature 19 subjects interacting with 33 diverse rigid objects. In addition…

The growing interest in embodied intelligence has brought ego-centric perspectives to contemporary research. One significant challenge within this realm is the accurate localization and tracking of objects in ego-centric videos, primarily…

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…

Learning to infer labels in an open world, i.e., in an environment where the target "labels" are unknown, is an important characteristic for achieving autonomy. Foundation models pre-trained on enormous amounts of data have shown remarkable…

Long-horizon robotic manipulation remains challenging for Vision-Language-Action (VLA) models despite recent progress in zero-shot generalization and simulation-to-real-world transfer. Current VLA models suffer from stage hallucination,…

Vision-Language Models (VLMs) have been applied to autonomous driving to support decision-making in complex real-world scenarios. However, their training on static, web-sourced image-text pairs fundamentally limits the precise…

Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…

General-purpose robots must master long-horizon manipulation, defined as tasks involving multiple kinematic structure changes (e.g., attaching or detaching objects) in unstructured environments. While Vision-Language-Action (VLA) models…

Object understanding in egocentric visual data is arguably a fundamental research topic in egocentric vision. However, existing object datasets are either non-egocentric or have limitations in object categories, visual content, and…

Modeling human-object interactions (HOI) from an egocentric perspective is a critical yet challenging task, particularly when relying on sparse signals from wearable devices like smart glasses and watches. We present ECHO, the first unified…

We present GEM, a Generalizable Ego-vision Multimodal world model that predicts future frames using a reference frame, sparse features, human poses, and ego-trajectories. Hence, our model has precise control over object dynamics, ego-agent…

Language-guided long-horizon mobile manipulation has long been a grand challenge in embodied semantic reasoning, generalizable manipulation, and adaptive locomotion. Three fundamental limitations hinder progress: First, although large…

Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effective data collection frameworks. Existing humanoid…

We introduce HOT3D, a publicly available dataset for egocentric hand and object tracking in 3D. The dataset offers over 833 minutes (more than 3.7M images) of multi-view RGB/monochrome image streams showing 19 subjects interacting with 33…

We explore how reconciling several foundation models (large language models and vision-language models) with a novel unified memory mechanism could tackle the challenging video understanding problem, especially capturing the long-term…

The ability to predict collision-free future trajectories from egocentric observations is crucial in applications such as humanoid robotics, VR / AR, and assistive navigation. In this work, we introduce the challenging problem of predicting…

As robots become more present in open human environments, it will become crucial for robotic systems to understand and predict human motion. Such capabilities depend heavily on the quality and availability of motion capture data. However,…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Locating human-object interaction (HOI) actions within video serves as the foundation for multiple downstream tasks, such as human behavior analysis and human-robot skill transfer. Current temporal action localization methods typically rely…

Most existing benchmarks for understanding egocentric vision focus primarily on daytime scenarios, overlooking the low-light conditions that are inevitable in real-world applications. To investigate this gap, we present EgoNight, the first…