EMPIRE: Explicit Manipulation Planning as a Learnable Intermediate Representation for Egocentric Hand-Motion Forecasting
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Source: arXiv cs.ROPublish time unverified
arXiv:2608.22449v1 Announce Type: new Abstract: Forecasting dexterous hand motions from egocentric observations is fundamental to intelligent interactive systems. Existing VLM-based methods typically map observations directly to future motions, overlooking the underlying manipulation process that governs hand-object interactions.