StableHand: Quality-Aware Flow Matching for World-Space Dual-Hand Motion Estimation from Egocentric Video
Recovering world space 4D motion of two interacting hands from egocentric video is a fundamental capability for supervising robot policy learning, where wrist trajectories track the end-effector and finger articulations specify the grasp pose. Two major challenges arise in this setting: hands frequently leave the camera view for extended periods due to head motion, and persistent hand-object interactions cause severe occlusions of one or both hands. Existing methods uniformly condition on noisy hand motion observations without accounting for their per-frame reliability, leading to substantial performance degradation. Our key insight is that accurate world space hand motion estimation is t...
| Authors | Huajian Zeng, Chaohua Yao, Yuantai Zhang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 18 May 2026 |
| Last updated at source | 18 May 2026 |
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