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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description" content="Visual Instruction Tuning">
<meta name="keywords" content="multimodal chatbot">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>HandOS</title>
<link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro">
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<body>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">HandOS: 3D Hand Reconstruction in One Stage
<h4></h4>
<br>
<div class="is-size-5 publication-authors">
<!-- <span class="author-block">
Contributors:
</span> -->
<span class="author-block">
<a href="https://seanchenxy.github.io/" style="color:#0071f2;font-weight:normal;">Xingyu Chen<sup><b style="color:#0071f2; font-weight:normal">▶ </b></sup></a>,
</span>
<span class="author-block">
<a href="" style="color:#f68946;font-weight:normal;">Zhuheng Song<sup><b style="color:#f68946; font-weight:normal">▶ </b></sup></a>,
</span>
<span class="author-block">
<a href="" style="color:#a800d7;font-weight:normal;">Xiaoke Jiang<sup><b style="color:#a800d7; font-weight:normal">▶ </b></sup></a>,
</span>
<span class="author-block">
<a href="" style="color:#0071f2;font-weight:normal;">Yaoqing Hu<sup><b style="color:#0071f2; font-weight:normal">▶ </b></sup></a>,
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?user=Gudfky4AAAAJ&hl=zh-CN" style="color:#0071f2;font-weight:normal;">Junzhi Yu<sup><b style="color:#0071f2; font-weight:normal">▶ </b></sup></a>,
</span>
<span class="author-block">
<a href="https://www.leizhang.org/" style="color:#a800d7;font-weight:normal;">Lei Zhang<sup><b style="color:#a800d7; font-weight:normal">▶ </b></sup></a>
</span>
</div>
<br>
<div class="is-size-5 publication-authors">
<span class="author-block"><b style="color:#0071f2; font-weight:normal">▶ </b> Peking University</span>
<span class="author-block"><b style="color:#a800d7; font-weight:normal">▶ </b> IDEA Research</span>
<span class="author-block"><b style="color:#f68946; font-weight:normal">▶ </b> University of Chinese Academy of Sciences</b></span>
</div>
<div class="is-size-6 publication-authors">
<!-- <span class="author-block"><sup>☨</sup> Corresponding author</span><br> -->
<span class="author-block">This work was done
during Xingyu Chen's academic visit at IDEA Research and while
Zhuheng Song was an intern at IDEA Research.</span>
</div>
<br>
<div class="column has-text-centered">
<div class="publication-links">
<span class="link-block">
<a href="http://arxiv.org/abs/2412.01537" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv'24</span>
</a>
</span>
<!-- <span class="link-block">
<a href="https://github.com/IDEA-Research/TAPTR" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span> -->
<!-- <span class="link-block">
<a href="https://taptr-trajectory.deepdataspace.com" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="far fa-images"></i>
</span>
<span>Demo-Trajectory</span>
</a>
</span> -->
<!-- <span class="link-block">
<a href="https://taptr-videoediting.deepdataspace.com" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="far fa-images"></i>
</span>
<span>Demo-TrackAnyArea</span>
</a>
</span> -->
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section" style="background-color:#efeff081">
<div class="columns is-centered has-text-centered">
<div class="column is-six-fifths">
<h2 class="title is-3"><span style="font-size: 100%;">🛠️ Application of HandOS in real-world scenes</h2>
<div class="video">
<video width="320" height="240" controls>
<source src="./images/clip-0.mp4" type="video/mp4">
</video>
<video width="320" height="240" controls>
<source src="./images/clip-1.mp4" type="video/mp4">
</video>
<video width="320" height="240" controls>
<source src="./images/clip-2.mp4" type="video/mp4">
</video>
</div>
<div class="video">
<video width="320" height="240" controls>
<source src="./images/clip-3.mp4" type="video/mp4">
</video>
<video width="320" height="240" controls>
<source src="./images/clip-4.mp4" type="video/mp4">
</video>
<video width="320" height="240" controls>
<source src="./images/clip-5.mp4" type="video/mp4">
</video>
</div>
<!-- Note: For the video editing demos, we plot "TAPTR" on the first frame of the video, then we sample points in the plot area densely and track them throughout the video to achieve video editing. -->
</div>
<br>
</section>
<section class="section" style="background-color:#efeff081">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-six-fifths">
<h2 class="title is-3"> 🧬 What is HandOS</h2>
<div style="text-align: center;">
<img id="teaser" width="90%" src="images/teaser.jpg" style="margin-bottom: 30px;">
</div>
<div class="content has-text-justified">
<p>
We present HandOS, a one-stage approach for hand reconstruction that substantially streamlines the paradigm. Additionally, we demonstrate that HandOS effectively adapts to diverse complex scenarios, making it highly applicable to real-world applications. </p>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<!-- Results. -->
<div class="columns is-centered has-text-centered">
<div class="column is-six-fifths">
<h2 class="title is-3">👣 A brief overview</h2>
</div>
</div>
<!-- </div> -->
<!--/ Results. -->
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-full-width">
<div class="content has-text-justified">
<!-- <h5 class="title is-4">TAPTRv1 - Simple yet strong baseline.</h5> -->
<p>
Existing approaches of hand reconstruction predominantly adhere to a multi-stage framework, encompassing detection, left-right classification, and pose estimation. This paradigm induces redundant computation and cumulative errors. In this work, we propose HandOS, an end-to-end framework for 3D hand reconstruction. Our central motivation lies in leveraging a frozen detector as the foundation while incorporating auxiliary modules for 2D and 3D keypoint estimation. In this manner, we integrate the pose estimation capacity into the detection framework, while at the same time obviating the necessity of using the left-right category as a prerequisite.
Specifically, we propose an interactive 2D-3D decoder, where 2D joint semantics is derived from detection cues while 3D representation is lifted from those of 2D joints. Furthermore, hierarchical attention is designed to enable the concurrent modeling of 2D joints, 3D vertices, and camera translation. Consequently, we achieve an end-to-end integration of hand detection, 2D pose estimation, and 3D mesh reconstruction within a one-stage framework, so that the above multi-stage drawbacks are overcome. Meanwhile, the HandOS reaches state-of-the-art performances on public benchmarks.
</p>
<centering>
<div style="text-align: center;">
<figure>
<img id="teaser" width="100%" src="images/arch.jpg" style="margin-bottom: 30px;" alt="test">
<figcaption>Overview of HandOS framework. Left: overall architecture. Right: interactive 2D-3D decoder. With off-the-shelf features, bounding boxes, and category scores from a frozen detector, the interactive 2D-3D decoder, including query filtering, expansion, lifting, and interactive layers, can understand hand pose and shape via estimating keypoints in both 2D and 3D spaces.
</figcaption>
</figure>
</div>
</centering>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<!-- Results. -->
<div class="columns is-centered has-text-centered">
<div class="column is-six-fifths">
<h2 class="title is-3">💯 Performance
</h2>
</div>
</div>
<!-- </div> -->
<!--/ Results. -->
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-full-width">
<div class="content has-text-justified">
<centering>
<p>
Evaluated on 4 benchmarks, the HandOS achieves state-of-the-art performance (Green and light green indicate the best and second number). <br>
Even when compared with methods trained on large-scale data (i.e., HaMeR and Hamba), HandOS is still competitive.
</p>
<div style="text-align: center;">
<img id="teaser" width="70%" src="images/performance.jpg">
</div>
</centering>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<!-- Results. -->
<div class="columns is-centered has-text-centered">
<div class="column is-six-fifths">
<h2 class="title is-3">🗓 Future work and collaboration opportunities.
</h2>
</div>
</div>
<!-- </div> -->
<!--/ Results. -->
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column is-full-width">
<div class="content has-text-justified">
<p>
1. End-to-end hand-object representation.
</p>
<p>
2. HandOS for robot data collection and annotation.
</p>
<p>
3. Hand skill learning from internet-scale data.
</p>
<p>
If you have any interest in collaboration, feel free to contact us!
</p>
</div>
</div>
</div>
</div>
</section>
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<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>
@article{bib:handos,
title={HandOS: 3D Hand Reconstruction in One Stage},
author={Chen, Xingyu and Song, Zhuheng and Jiang, Xiaoke and Hu, Yaoqing and Yu, Junzhi and Zhang, Lei},
journal={arXiv preprint},
year={2024}
}
</code></pre>
</div>
</section>
</body>
</html>