# EgoExplorer: A Vision-Motion-Touch Observatory for Human Loco-Manipulation In Situ

arXiv: https://arxiv.org/abs/2610.18872 · HTML: https://mlsanity.com/paper/2610.18872/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 45 of its 61 references that are in the map.
- First posted on arXiv 13 Oct 2026.

## Builds on (most cited first, 30 of 45)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Expressive Body Capture: 3D Hands, Face, and Body from a Single Image](https://mlsanity.com/paper/1904.05866/) (2019)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [On the Continuity of Rotation Representations in Neural Networks](https://mlsanity.com/paper/1812.07035/) (2018)
- [Rescaling Egocentric Vision](https://mlsanity.com/paper/2006.13256/) (2020)
- [GRAB: A Dataset of Whole-Body Human Grasping of Objects](https://mlsanity.com/paper/2008.11200/) (2020)
- [BEHAVE: Dataset and Method for Tracking Human Object Interactions](https://mlsanity.com/paper/2204.06950/) (2022)
- [EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video](https://mlsanity.com/paper/2505.11709/) (2025)
- [EgoMimic: Scaling Imitation Learning via Egocentric Video](https://mlsanity.com/paper/2410.24221/) (2024)
- [EgoBody: Human Body Shape and Motion of Interacting People from Head-Mounted Devices](https://mlsanity.com/paper/2112.07642/) (2021)
- [World-Grounded Human Motion Recovery via Gravity-View Coordinates](https://mlsanity.com/paper/2409.06662/) (2024)
- [Nymeria: A Massive Collection of Multimodal Egocentric Daily Motion in the Wild](https://mlsanity.com/paper/2406.09905/) (2024)
- [AvatarPoser: Articulated Full-Body Pose Tracking from Sparse Motion Sensing](https://mlsanity.com/paper/2207.13784/) (2022)
- [Avatars Grow Legs: Generating Smooth Human Motion from Sparse Tracking Inputs with Diffusion Model](https://mlsanity.com/paper/2304.08577/) (2023)
- [Humanoid Policy ~ Human Policy](https://mlsanity.com/paper/2503.13441/) (2025)
- [Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking](https://mlsanity.com/paper/2510.02252/) (2025)
- [LeRobot: An Open-Source Library for End-to-End Robot Learning](https://mlsanity.com/paper/2602.22818/) (2026)
- [OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction](https://mlsanity.com/paper/2509.26633/) (2025)
- [HaWoR: World-Space Hand Motion Reconstruction from Egocentric Videos](https://mlsanity.com/paper/2501.02973/) (2025)
- [ParaHome: Parameterizing Everyday Home Activities Towards 3D Generative Modeling of Human-Object Interactions](https://mlsanity.com/paper/2401.10232/) (2024)
- [EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World](https://mlsanity.com/paper/2604.07607/) (2026)
- [Realistic Full-Body Tracking from Sparse Observations via Joint-Level Modeling](https://mlsanity.com/paper/2308.08855/) (2023)
- [EgoPoser: Robust Real-Time Egocentric Pose Estimation from Sparse and Intermittent Observations Everywhere](https://mlsanity.com/paper/2308.06493/) (2023)
- [Lightweight Multi-person Total Motion Capture Using Sparse Multi-view Cameras](https://mlsanity.com/paper/2108.10378/) (2021)
- [HMD-Poser: On-Device Real-time Human Motion Tracking from Scalable Sparse Observations](https://mlsanity.com/paper/2403.03561/) (2024)
- [SparsePoser: Real-time Full-body Motion Reconstruction from Sparse Data](https://mlsanity.com/paper/2311.02191/) (2023)
- [Stratified Avatar Generation from Sparse Observations](https://mlsanity.com/paper/2405.20786/) (2024)
- [EMMA: Scaling Mobile Manipulation via Egocentric Human Data](https://mlsanity.com/paper/2509.04443/) (2025)

## Abstract (arXiv)

Learning humanoid loco-manipulation from human demonstrations rests on observing how locomotion, posture, and object interaction evolve together as tasks unfold. Scaling collection across diverse environments, in turn, favors lightweight, portable capture systems. Yet, existing datasets provide only partial views of this coordination. Thus, we introduce EgoExplorer, a 100-hour vision-motion-touch observatory of human loco-manipulation built with a wearable system. With an emphasis on professional activities, its continuous recordings align egocentric video with reconstructed whole-body motion, fine-grained finger articulation, and tactile observations, accompanied by step-level descriptions. To achieve this coverage with sparse body sensing, we develop the Calibrate-Complete-Constrain pipeline. Concretely, reusable calibration fixes participant geometry and sensor attachments before motion inference to disentangle mounting offsets from articulation. A temporal prior then completes unobserved joint motion, while layered constraints promote measurement agreement, temporal continuity, and geometric consistency, properties that motion plausibility alone does not guarantee. Against tracker-fitted references, the method reduces body-point error by 71.9% relative to the strongest baseline; matched evaluations also show gains in hand stability and contact estimation. Preliminary studies explore multimodal generation and conditioning alongside humanoid retargeting with whole-body control in simulation.