arXiv:2610.10370v1 Announce Type: cross Abstract: As smart glasses and lightweight MR devices become increasingly practical, input remains a key challenge. The bare palm is an always-available, tacti...
arXiv:2503. 07825v3 Announce Type: replace-cross Abstract: We present an advance in wearable technology: a mobile-optimized, real-time, ultra-low-power event camera system that enables natural hand gesture control for smart glasses, dramatically improving user experience.
Tactus is a textile‑integrated glove that combines a thin, conformal 3D‑knit design with strategically placed capacitive tactile sensors and IMU‑fused pose tracking to capture natural human manipulation. It offers a calibrated, cross‑glove consistency pipeline and per‑session subject correction, achieving a minimum detectable force of 0.59 N and fingertip pose error of 11.0 mm even under heavy occlusion. The authors benchmark Tactus against two commercial gloves, presenting the first quantitative cross‑platform evaluation of tactile force regression and hand pose estimation.
TouchSight is a monocular egocentric vision framework that predicts dense full-hand contact forces from video. It uses 500 hours of pressure‑glove recordings and hand‑object interaction data, and introduces TwinTouch‑20H, a dataset of 20 hours of paired visual data where generative models render gloved recordings as bare‑hand observations while preserving tactile labels. The system outperforms prior methods on OakInk2, generalizes qualitatively to natural bare‑hand egocentric videos from unseen datasets, and improves consistently as glove supervision scales.
TouchSight is a monocular egocentric vision framework that predicts dense full-hand contact forces without tactile sensors. It uses 500 hours of pressure-glove data and a 20-hour TwinTouch-20H dataset where generative models render gloved recordings as bare-hand videos, bridging the appearance gap. The system outperforms previous methods on OakInk2, generalizes to unseen natural bare-hand egocentric videos, and improves as glove supervision increases.
Retargeting human object interaction demonstrations to physics based simulation requires reproducing not only body motion but also the object motion and contacts that make manipulation succeed. However, position only hand trajectories do not specify the contact forces needed to manipulate objects, and directly tracking them can overconstrain contact rich finger behavior.
arXiv:2610.10288v1 Announce Type: new Abstract: Large-scale egocentric human interaction data is becoming an important source of physical supervision for embodied learning, yet video alone leaves the...
Touch-JEPA is a framework that learns tactile representations from hand‑object videos using limited tactile supervision. It first trains a self‑supervised model that predicts masked visual features at hand‑surface locations, capturing latent contact dynamics. The model is then jointly fine‑tuned on a small labeled subset, improving contact discrimination and tactile magnitude estimation on human‑hand benchmarks and transferring to robotic hands without robot tactile data.
arXiv:2606. 24450v1 Announce Type: cross Abstract: Perceiving physical contact is fundamental to dexterous manipulation.
arXiv:2609.24976v1 Announce Type: cross Abstract: Dexterous manipulation depends on contact dynamics that are often only partially observable from vision. Recent World-Action Models (WAMs) couple pre...
arXiv:2610.01210v1 Announce Type: new Abstract: Egocentric video has become a primary source of supervision for embodied models, and its value rests on recovering hand motion in world coordinates, wh...
arXiv:2610.06970v1 Announce Type: new Abstract: Egocentric bimanual hand pose estimation is important for virtual interaction, wearable control, and rehabilitation, but visual observations are often...