نسخة أولية وصول مفتوح
OccluDex: Hierarchical 3D Visuo-Tactile Representation Learning for Egocentric Dexterous Manipulation under Self-Occlusion
Reliable dexterous manipulation requires continuous estimation of object geometry and hand-object contact throughout interaction. With egocentric sensing, however, the manipulating hand frequently occludes task-relevant object surfaces and contact regions, reducing the visual evidence available for state estimation and …