# MEgoHand: Multimodal Egocentric Hand-Object Interaction Motion Generation

arXiv: https://arxiv.org/abs/2505.16602 · HTML: https://mlsanity.com/paper/2505.16602/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 43 of its 51 references that are in the map.
- First posted on arXiv 22 May 2025.

## Builds on (most cited first, 30 of 43)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [GR00T N1: An Open Foundation Model for Generalist Humanoid Robots](https://mlsanity.com/paper/2503.14734/) (2025)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [Real-Time Single Image and Video Super-Resolution Using an Efficient Sub-Pixel Convolutional Neural Network](https://mlsanity.com/paper/1609.05158/) (2016)
- [SigLIP 2: Multilingual Vision-Language Encoders with Improved Semantic Understanding, Localization, and Dense Features](https://mlsanity.com/paper/2502.14786/) (2025)
- [SmolLM2: When Smol Goes Big -- Data-Centric Training of a Small Language Model](https://mlsanity.com/paper/2502.02737/) (2025)
- [HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction](https://mlsanity.com/paper/2203.01577/) (2022)
- [ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation](https://mlsanity.com/paper/2204.13662/) (2022)
- [Reconstructing Hands in 3D with Transformers](https://mlsanity.com/paper/2312.05251/) (2023)
- [Rectified Flow: A Marginal Preserving Approach to Optimal Transport](https://mlsanity.com/paper/2209.14577/) (2022)
- [H2O: Two Hands Manipulating Objects for First Person Interaction Recognition](https://mlsanity.com/paper/2104.11181/) (2021)
- [First-Person Hand Action Benchmark with RGB-D Videos and 3D Hand Pose Annotations](https://mlsanity.com/paper/1704.02463/) (2017)
- [UniDepthV2: Universal Monocular Metric Depth Estimation Made Simpler](https://mlsanity.com/paper/2502.20110/) (2025)
- [HoloAssist: an Egocentric Human Interaction Dataset for Interactive AI Assistants in the Real World](https://mlsanity.com/paper/2309.17024/) (2023)
- [HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videos](https://mlsanity.com/paper/2411.19167/) (2024)
- [Cradle: Empowering Foundation Agents Towards General Computer Control](https://mlsanity.com/paper/2403.03186/) (2024)
- [Ego-Exo: Transferring Visual Representations from Third-person to First-person Videos](https://mlsanity.com/paper/2104.07905/) (2021)
- [TACO: Benchmarking Generalizable Bimanual Tool-ACtion-Object Understanding](https://mlsanity.com/paper/2401.08399/) (2024)
- [Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interaction](https://mlsanity.com/paper/2404.00562/) (2024)
- [An Outlook into the Future of Egocentric Vision](https://mlsanity.com/paper/2308.07123/) (2023)
- [OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completion](https://mlsanity.com/paper/2403.19417/) (2024)
- [HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Video](https://mlsanity.com/paper/2311.18448/) (2023)
- [Eagle 2: Building Post-Training Data Strategies from Scratch for Frontier Vision-Language Models](https://mlsanity.com/paper/2501.14818/) (2025)
- [HaWoR: World-Space Hand Motion Reconstruction from Egocentric Videos](https://mlsanity.com/paper/2501.02973/) (2025)
- [DiffH2O: Diffusion-Based Synthesis of Hand-Object Interactions from Textual Descriptions](https://mlsanity.com/paper/2403.17827/) (2024)
- [Hamba: Single-view 3D Hand Reconstruction with Graph-guided Bi-Scanning Mamba](https://mlsanity.com/paper/2407.09646/) (2024)
- [G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesis](https://mlsanity.com/paper/2404.12383/) (2024)
- [GRIP: Generating Interaction Poses Using Spatial Cues and Latent Consistency](https://mlsanity.com/paper/2308.11617/) (2023)

## Built on by (most cited first, 9 of 9)

- [Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos](https://mlsanity.com/paper/2507.15597/) (2025)
- [Egocentric World Model for Photorealistic Hand-Object Interaction Synthesis](https://mlsanity.com/paper/2603.13615/) (2026)
- [Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views](https://mlsanity.com/paper/2511.12878/) (2025)
- [Open-world Hand-Object Interaction Video Generation Based on Structure and Contact-aware Representation](https://mlsanity.com/paper/2512.01677/) (2025)
- [PAM: A Pose-Appearance-Motion Engine for Sim-to-Real HOI Video Generation](https://mlsanity.com/paper/2603.22193/) (2026)
- [Affordance-Guided Diffusion Prior for 3D Hand Reconstruction](https://mlsanity.com/paper/2510.00506/) (2025)
- [Bimanual 3D Hand Motion and Articulation Forecasting in Everyday Images](https://mlsanity.com/paper/2510.06145/) (2025)
- [EggHand: A Multimodal Foundation Model for Egocentric Hand Pose Forecasting](https://mlsanity.com/paper/2605.07642/) (2026)
- [Hand-Object Interaction in the Age of Large Foundation Models:Reconstruction, Generation, and Embodied Transfer](https://mlsanity.com/paper/2607.28394/) (2026)

## Abstract (arXiv)

Egocentric hand-object motion generation is crucial for immersive AR/VR and robotic imitation but remains challenging due to unstable viewpoints, self-occlusions, perspective distortion, and noisy ego-motion. Existing methods rely on predefined 3D object priors, limiting generalization to novel objects, which restricts their generalizability to novel objects. Meanwhile, recent multimodal approaches suffer from ambiguous generation from abstract textual cues, intricate pipelines for modeling 3D hand-object correlation, and compounding errors in open-loop prediction. We propose MEgoHand, a multimodal framework that synthesizes physically plausible hand-object interactions from egocentric RGB, text, and initial hand pose. MEgoHand introduces a bi-level architecture: a high-level "cerebrum" leverages a vision language model (VLM) to infer motion priors from visual-textual context and a monocular depth estimator for object-agnostic spatial reasoning, while a low-level DiT-based flow-matching policy generates fine-grained trajectories with temporal orthogonal filtering to enhance stability. To address dataset inconsistency, we design a dataset curation paradigm with an Inverse MANO Retargeting Network and Virtual RGB-D Renderer, curating a unified dataset of 3.35M RGB-D frames, 24K interactions, and 1.2K objects. Extensive experiments across five in-domain and two cross-domain datasets demonstrate the effectiveness of MEgoHand, achieving substantial reductions in wrist translation error (86.9%) and joint rotation error (34.1%), highlighting its capacity to accurately model fine-grained hand joint structures and generalize robustly across diverse scenarios.