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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

113,849 次观看 • 1 年前 •via X (Twitter)

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Ryan Hoque 的头像

Ryan Hoque1 年前

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.

Ryan Hoque 的头像

Ryan Hoque1 年前

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.

Ryan Hoque 的头像

Ryan Hoque1 年前

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!

SecBriefs | Making Cybersecurity Simple 的头像

SecBriefs | Making Cybersecurity Simple1 年前

⚠️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:

Raul 的头像

Raul1 年前

Perfect for Optimus to learn new skills

RL 的头像

RL1 年前

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

Michael Black 的头像

Michael Black1 年前

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

Hussein Lezzaik 的头像

Hussein Lezzaik1 年前

excellent work, congrats!

Soroush Nasiriany 的头像

Soroush Nasiriany1 年前

Congrats Ryan! Awesome work as always!!

Humanoids daily 的头像

Humanoids daily1 年前

Impressive! Interesting use of the Apple Vision Pro.

Idriel Vermillion 的头像

Idriel Vermillion1 年前

So hype

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