4 papers
EgoFlow: Gradient-Guided Flow Matching for Egocentric 6DoF Object Motion Generation
Abhishek Saroha, Huajian Zeng, Xingxing Zuo +2
Understanding and predicting object motion from egocentric video is fundamental to embodied perception and interaction. However, generating physically consistent 6DoF trajectories…
GMT: Goal-Conditioned Multimodal Transformer for 6-DOF Object Trajectory Synthesis in 3D Scenes
Huajian Zeng, Abhishek Saroha, Daniel Cremers +1
Synthesizing controllable 6-DOF object manipulation trajectories in 3D environments is essential for enabling robots to interact with complex scenes, yet remains challenging due to…
MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos
Alexey Gavryushin, Xi Wang, Robert J. S. Malate +5
Large-scale egocentric video datasets capture diverse human activities across a wide range of scenarios, offering rich and detailed insights into how humans interact with objects,…
SIGHT: Synthesizing Image-Text Conditioned and Geometry-Guided 3D Hand-Object Trajectories
Alexey Gavryushin, Alexandros Delitzas, Luc Van Gool +3
When humans grasp an object, they naturally form trajectories in their minds to manipulate it for specific tasks. Modeling hand-object interaction priors holds significant potentia…