Imagine2Real enables zero-shot humanoid-object interaction by unifying motions as 4D point trajectories, tracking only base/hands/object keypoints inside a BFM latent space, and training with progressive simple rewards for mocap deployment.
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Latent diffusability is quantified by decomposing the MMSE rate along diffusion trajectories into Fisher Information and Fisher Information Rate, with three geometric penalties (dimensional compression, tangential distortion, curvature injection) identified as sources of failure.
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Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors
Imagine2Real enables zero-shot humanoid-object interaction by unifying motions as 4D point trajectories, tracking only base/hands/object keypoints inside a BFM latent space, and training with progressive simple rewards for mocap deployment.
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Understanding Latent Diffusability via Fisher Geometry
Latent diffusability is quantified by decomposing the MMSE rate along diffusion trajectories into Fisher Information and Fisher Information Rate, with three geometric penalties (dimensional compression, tangential distortion, curvature injection) identified as sources of failure.