The Surprising Effectiveness of Video Diffusion Models for Hand Motion Reconstruction
On the map: Diffusion models → Diffusion and flow policies for robotics
Abstract (arXiv)
4D hand motion reconstruction from egocentric video is bottlenecked by clear limitations of existing methods: image-based pipelines depend on a detector that fails under heavy occlusion, while video-based methods rely on temporal modules learned only from scarce hand-pose annotations, a narrow signal insufficient to model motion dynamics, occlusion reasoning, and hand-object interaction. These capabilities, however, are exactly what video generative models must implicitly acquire when trained to synthesize coherent video at internet scale. Motivated by this, we present ViDiHand, which leverages the representations of a pretrained video diffusion model to reconstruct 4D two-hand pose. We adapt it via a hand-overlay rendering objective that specializes its features for hands while preserving its world priors. A decoder then recovers metric-scale pose from the adapted features. The whole pipeline operates directly on full frames--no detector, no infiller, and no test-time optimization. On ARCTIC, HOT3D, and HOI4D, ViDiHand substantially outperforms prior methods, establishing video diffusion models as a powerful new foundation for hand motion reconstruction and a promising route to scalable in-the-wild data collection for embodied AI. Project page: https://vidihand.github.io.
Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 29 of its 33 references that are in the map. First posted on arXiv 29 Jun 2026.
Builds on
29 of 33 references.
References · 29
- 2025Wan: Open and Advanced Large-Scale Video Generative Modelscited by 2,708
- 2023Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasetscited by 2,581
- 2022Video Diffusion Modelscited by 2,305
- 2024CogVideoX: Text-to-Video Diffusion Models with An Expert Transformercited by 2,261
- 2025VACE: All-in-One Video Creation and Editingcited by 479
- 2023Emergent Correspondence from Image Diffusioncited by 446
- 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 327
- 2023Repurposing Diffusion-Based Image Generators for Monocular Depth Estimationcited by 327
- 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 312
- 2023Reconstructing Hands in 3D with Transformerscited by 306
- 2025EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Videocited by 211
- 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 175
17 more
- 2024HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videoscited by 129
- 2025EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videoscited by 128
- 2024WiLoR: End-to-end 3D Hand Localization and Reconstruction in-the-wildcited by 124
- 2026EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Datacited by 94
- 2025HaWoR: World-Space Hand Motion Reconstruction from Egocentric Videoscited by 66
- 2024Dyn-HaMR: Recovering 4D Interacting Hand Motion from a Dynamic Cameracited by 51
- 2024Hamba: Single-view 3D Hand Reconstruction with Graph-guided Bi-Scanning Mambacited by 45
- 2023Bringing Inputs to Shared Domains for 3D Interacting Hands Recovery in the Wildcited by 36
- 20233D Hand Pose Estimation in Everyday Egocentric Imagescited by 34
- 2025Emergent Temporal Correspondences from Video Diffusion Transformerscited by 31
- 2023HMP: Hand Motion Priors for Pose and Shape Estimation from Videocited by 23
- 2023Deformer: Dynamic Fusion Transformer for Robust Hand Pose Estimationcited by 21
- 2025Predicting 4D Hand Trajectory from Monocular Videoscited by 21
- 2026Hand2World: Autoregressive Egocentric Interaction Generation via Free-Space Hand Gesturescited by 16
- 2025From Image to Video: An Empirical Study of Diffusion Representationscited by 15
- 2024OmniHands: Towards Robust 4D Hand Mesh Recovery via A Versatile Transformercited by 7
- 2025Denoise to Track: Harnessing Video Diffusion Priors for Robust Correspondencecited by 4
Built on by
Citing papers per year: 2026: 5.
5 papers.
- 2026ACE-Ego-Hand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recoverycited by 2
- 2026MINT: A Unified Model for World-Space Camera and Hand Motion Estimation from Scalable Egocentric Pipeline Supervisioncited by 2
- 2026ESTHER: Egocentric Stereo Hand Estimation and Reconstruction in the Wildcited by 0
- 2026InfiniHand: Streaming World-Space Hand Motion Estimation from Egocentric Videocited by 0
- 2026RLHND: Video Foundation Models as Physically Grounded Hand Trackers for Robot Learningcited by 0
- 2026RLHND: Video Foundation Models as Physically Grounded Hand Trackers for Robot Learning7 Oct 2026
- 2026InfiniHand: Streaming World-Space Hand Motion Estimation from Egocentric Video28 Sep 2026
- 2026ESTHER: Egocentric Stereo Hand Estimation and Reconstruction in the Wild28 Sep 2026
- 2026MINT: A Unified Model for World-Space Camera and Hand Motion Estimation from Scalable Egocentric Pipeline Supervision4 Sep 2026
- 2026ACE-Ego-Hand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recovery20 Aug 2026
Similar, not cited
Close in wording, no citation either way
- 2025Diffusion-based 3D Hand Motion Recovery with Intuitive Physics
- 2025MagicHOI: Leveraging 3D Priors for Accurate Hand-object Reconstruction from Short Monocular Video Clips
- 2024HANDI: Hand-Centric Text-and-Image Conditioned Video Generation
- 2026UniHand: A Unified Model for Diverse Controlled 4D Hand Motion Modeling
- 2026HandFlow: Fully Generative 4D Hand Recovery with Flow Matching
- 2023Denoising Diffusion for 3D Hand Pose Estimation from Images
- 2024FoundHand: Large-Scale Domain-Specific Learning for Controllable Hand Image Generation
- 2025Cascaded Diffusion Framework for Probabilistic Coarse-to-Fine Hand Pose Estimation