arXiv:2608. 03127v1 Announce Type: cross Abstract: Hand motion carries the finest-grained information in human activity, yet the representations behind hand generation, understanding, and robot learning are overwhelmingly continuous--joint angles or MANO parameters.
arXiv:2606. 10683v1 Announce Type: cross Abstract: Dexterous hands are essential for fine-grained manipulation, but their hardware designs vary substantially across embodiments.
M3T introduces a discrete multi‑modal motion token system for sign language production, addressing the need for non‑manual features such as mouthings, eyebrow raises, gaze, and head movements. The approach couples FLAME’s expressive facial space with SMPL‑X body parameters and uses modality‑specific Finite Scalar Quantization VAEs to achieve high face codebook utilization (99.0%). Trained with an autoregressive transformer and a sign‑to‑text translation objective, M3T outperforms existing methods on three standard datasets, notably improving accuracy on NMFs‑CSL from 49.0% to 58.3% without large‑scale pre‑training.
arXiv:2609.13269v1 Announce Type: cross Abstract: Gesture recognition on video is normally posed as classification: label each frame, then act on the label. That is adequate for control, where a comm...
ActionPiece rethinks how actions are tokenized for autoregressive vision‑language‑action models by introducing physical rank consistency (PRC) to evaluate relational fidelity of reconstructed actions. The method jointly supervises representation learning and quantization to preserve local physical distance rankings, improving both PRC and policy success. Experiments on LIBERO, LIBERO‑Plus, SimplerEnv, and VLA‑Arena show significant gains over baseline tokenizers.
arXiv:2606. 18092v1 Announce Type: cross Abstract: Cross-end-effector grasp generation seeks a unified model that generalizes across objects and across embodiments ranging from parallel grippers to dexterous end effectors.
The paper introduces Direction-Scale Decomposition (DSD), an action representation that separates translation and rotation increments into direction and scale components before tokenization. DSD is evaluated with uniform binning and a B-spline tokenizer (BEAST) in both simulation and real-world manipulation tasks, showing improved success rates on LIBERO and SimplerEnv, especially under mixed-dataset training. Real-robot experiments confirm performance gains with and without robotics pretraining, supporting DSD as an effective representation for discrete-token vision-language-action models.
arXiv:2607. 04820v1 Announce Type: new Abstract: Decoding hand kinematics from surface electromyography (EMG) is a core challenge in wearable biosignal processing with clinical relevance for prosthetic control and motor rehabilitation.
arXiv:2606. 14752v1 Announce Type: cross Abstract: Modern Vision-Language-Action (VLA) models must bridge pretrained vision-language reasoning and precise continuous robot control.
arXiv:2606. 25247v1 Announce Type: cross Abstract: Neural swipe decoders are typically tied to the keyboard they were trained on, requiring a new corpus and training run for each layout.
arXiv:2608. 10588v1 Announce Type: cross Abstract: Purpose: Fine-grained handshape recognition supports computational sign-language transcription, recognition, and translation, but broad, phonetically defined visual inventories with signer-aware evaluation remain limited.
Screw Attention introduces a transformer layer that treats the relation between two bodies as a spatial transform rather than a graph edge, enabling each token to represent a body with a pose and its relative pose or joint screw. This design ensures equivariance to independent frame changes and allows a single layer to capture rigid‑body velocity recursion. Experiments on simulated manipulation tasks show that Screw Attention matches or outperforms other network architectures, achieving high success rates on LIBERO‑Spatial with far fewer parameters and maintaining performance under frame convention changes and pose noise.
The paper introduces Interaction‑Aligned Pruning (IAprune), a training‑free method for visual token pruning in embodied manipulation tasks. IAprune jointly decides per‑frame budget and token selection, using semantic‑motion spatial agreement to choose between conservative and aggressive coverage, and applies geometric residual correction to focus on under‑represented boundaries. Experiments on four policies, three simulation benchmarks, and a real‑robot platform show that IAprune matches unpruned performance on LIBERO while achieving up to 1.54× speed‑up and 1.48× acceleration on a real robot.