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Imitation learning has a data scarcity problem. Introducing EgoDex from Apple, the largest and most diverse dataset of dexterous human manipulation to date — 829 hours of egocentric video + paired 3D hand poses across 194 tasks. Now on arxiv: (1/4)

Ryan Hoque

1,976 subscribers

113,815 просмотров • 1 год назад •via X (Twitter)

Наука и технологии Новости и политика Образование

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Комментарии: 11

Фото профиля Ryan Hoque

Ryan Hoque1 год назад

Unlike teleoperation, egocentric video is passively scalable - like text and images on the Internet. We use Apple Vision Pro to collect video + precise pose annotations (unlike Ego4D, which lacks native pose data). This unlocks 5x the scale of existing large datasets like DROID.

Фото профиля Ryan Hoque

Ryan Hoque1 год назад

We also propose new benchmarks and train imitation learning policies for dexterous trajectory prediction. Below are 30 Hz wrist and fingertip trajectories on the test set, where blue = ground truth, red = model predictions, and points get lighter up to 2 seconds in the future.

Фото профиля Ryan Hoque

Ryan Hoque1 год назад

The full dataset is now publicly available to the community, access details are in the paper. Sample code for data loading is coming soon. Enjoy!

Фото профиля SecBriefs | Making Cybersecurity Simple

SecBriefs | Making Cybersecurity Simple1 год назад

⚠️The average person generates 2.5 quintillion bytes of data annually. That's enough to fill 575,000 libraries!📚 This data is used to track, target, and manipulate you. #Cybersecurity matters.💡 Cybersecurity Dictionary for Everyone is on Apple Books:

Фото профиля Raul

Raul1 год назад

Perfect for Optimus to learn new skills

Фото профиля RL

RL1 год назад

Fyi the dataset links dont work: “ NoSuchKeyThe specified key does not exist.datasets/egodex/[filename].zip9C2FBJJ7FJHKHDT3Uk3l1oHoR9NeaNJdC7gInDjt5u8slFtW5lRt9wFR0MQIWNXIk4sTWiLGEYF22KUPQQ9X6CVC+UU=”

Фото профиля Michael Black

Michael Black1 год назад

Looks great. You mention that it’s now public but I don’t find the link anywhere.

Фото профиля Hussein Lezzaik

Hussein Lezzaik1 год назад

excellent work, congrats!

Фото профиля Soroush Nasiriany

Soroush Nasiriany1 год назад

Congrats Ryan! Awesome work as always!!

Фото профиля Humanoids daily

Humanoids daily1 год назад

Impressive! Interesting use of the Apple Vision Pro.

Фото профиля Idriel Vermillion

Idriel Vermillion1 год назад

So hype

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