Author

Yu-Fei Liu

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Preprint Oct 2026

OmniDex: Scaling Dexterous Hand Grasping to Diverse Cluttered Scenes

Dexterous grasping is the foundational primitive in embodied AI, demanding massive data to train robust models. As real-world data collection is expensive, simulation has become the mainstream paradigm. Yet, while cluttered scenes best reflect real-world applications, learning to grasp within them is bottlenecked by a...

N. Fang, Zhong-Jin Luo, Yu-Xin Mo et al. · 0 citations

Preprint Sep 2026

InfiniHand: Streaming World-Space Hand Motion Estimation from Egocentric Video

InfiniHand is an end-to-end streaming feed-forward framework that jointly estimates MANO parameters, camera trajectories, and hand locations directly from uncalibrated egocentric video, achieving a 21% reduction in ARCTIC PA-p compared to ViDiHand while substantially mitigating world-space drift.

Ke-Rui Ren, Kai-Wen Song, Weiguang Zhao et al. · 0 citations

Preprint Aug 2026

ACE-Ego-Hand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recovery

ACE-Ego-Hand is introduced, an offline clip-level framework that extracts features via a Deterministic Clean-Latent Encoder and decodes them with a Bidirectional Spatiotemporal Decoder, offering a scalable path from everyday human video to robot manipulation data.

Yu-Fei Liu, Xixi Wang, Hao Li et al. · 3 citations · ⚡2

#machine learning Preprint Aug 2026

LM-X: Explainable Vision--Language--Action Modeling via Progress, Event, and Uncertainty Prediction

LM-X is introduced, which organizes prediction across task, event, and motor scales without claiming anatomical correspondence and shows that explicit multi-timescale predictive state can strengthen control while exposing interpretable internal estimates.

Jin Lou, Zhi Jing, Xu-Peng Wang et al. · 0 citations

Preprint Aug 2026

DreamHand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recovery

DreamHand is introduced, an offline clip-level framework that extracts features via a Deterministic Clean-Latent Encoder and decodes them with a Bidirectional Spatiotemporal Decoder, offering a scalable path from everyday human video to robot manipulation data.

Yufei Liu, Xixi Wang, Hao Li et al. · 0 citations

Jun 2026

The Surprising Effectiveness of Video Diffusion Models for Hand Motion Reconstruction

4D hand motion reconstruction from egocentric video is bottlenecked by clear limitations of existing methods: image-based pipelines depend on a detector that fails under heavy occlusion, while video-based methods rely on temporal modules learned only from scarce hand-pose annotations, a narrow signal insufficient to mo...

Yuxi Wang, Chengkai Jin, Yufei Liu et al. · arXiv.org · 1 citation · ⚡1