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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="MADiff: Motion-Aware Mamba Diffusion Models for Hand Trajectory Prediction on Egocentric Videos.">
<meta name="keywords" content="Hand Trajectory Prediction, Egocentric Vision, Hand-Object Interaction">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>MADiff: Motion-Aware Mamba Diffusion Models for Hand Trajectory Prediction on Egocentric Videos</title>
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</script>
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
<link rel="stylesheet" href="./static/css/bulma.min.css">
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<script src="./static/js/bulma-slider.min.js"></script>
<script src="./static/js/index.js"></script>
</head>
<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"><img src="./static/images/MAD_clip.svg" class="mad-image" width="50"/><span style="color: red;">M</span><span style="color: #00FF00;">A</span><span style="color: blue;">D</span>iff: Motion-Aware Mamba Diffusion Models for Hand Trajectory Prediction on Egocentric Videos</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://bit-mjy.github.io/">Junyi Ma</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://xieyuanli-chen.com/">Xieyuanli Chen</a><sup>2</sup>,</span>
<span class="author-block">
<a href="https://cogito2012.github.io/homepage/">Wentao Bao</a><sup>3</sup>,
</span>
<span class="author-block">
<a href="https://github.com/BIT-XJY">Jingyi Xu</a><sup>1</sup>,
</span>
<span class="author-block">
<a href="https://scholar.google.com/citations?hl=en&user=q6AY9XsAAAAJ">Hesheng Wang</a><sup>1</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>Shanghai Jiao Tong University,</span>
<span class="author-block"><sup>2</sup>National University of Defense Technology,</span>
<span class="author-block"><sup>3</sup>Michigan State University</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://arxiv.org/abs/2011.12948"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/google/nerfies"
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>
<!-- Dataset Link. -->
<span class="link-block">
<a href="https://github.com/google/nerfies/releases/tag/0.1"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="far fa-images"></i>
</span>
<span>Data</span>
</a>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video id="teaser" autoplay muted loop playsinline height="80%">
<source src="./static/videos/predict2.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
MADiff is a novel Mamba diffusion model that accurately predicts future hand trajectories on egocentric videos.
</h2>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
We present the first method ....
</p>
<p>
Our approach ...
</p>
<p>
We show that ...
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
</div>
</section>
<section class="section" style="text-align: center;" >
<h2 class="title is-3" style="text-align: center;">
MADiff Architecture
</h2>
<img src="./static/images/madiff_architecture.png"
class="architecture-image"
alt="architecture-image image."
style="width: 60%; display: block; margin: 0 auto;"/>
<video id="teaser" autoplay muted loop playsinline style="width: 60%; height: auto; max-width: 850px;">
<source src="./static/videos/denoising2.mp4" type="video/mp4">
</video>
<p>
Motion-aware Mamba is proposed to gradually denoise latent features in the latent diffusion to predict accurate hand waypoints.
</p>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<!-- Training Strategy. -->
<div class="column">
<div class="content">
<h2 class="title is-3">Training Strategy</h2>
<p>
We use angle and length constraints to optimize the directionality and stabability of predicted hand trajectories.
</p>
<video id="train" autoplay muted loop playsinline height="60%">
<source src="./static/videos/supervision.mp4"
type="video/mp4">
</video>
</div>
</div>
<!--/ Training Strategy. -->
<!-- MDSS. -->
<div class="column">
<h2 class="title is-3">Motion-Driven Selective Scan</h2>
<div class="columns is-centered">
<div class="column content">
<p>
MDSS is proposed in our motion-aware Mamba to achieve diffusion denoising under egomotion guidance.
</p>
<video id="mdss" autoplay muted loop playsinline height="60%">
<source src="./static/videos/mdss.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
<!--/ MDSS. -->
</section>
<section class="section">
<h2 class="title is-3" style="text-align: center;">
MADiff vs. AR and iter-NAR paradigms
</h2>
<img src="./static/images/paradigm.png"
class="architecture-image"
alt="architecture-image image."
style="width: 60%; display: block; margin: 0 auto;"/>
<h2 class="subtitle has-text-centered">
MADiff inference with Motion-Aware Mamba and CDC operation
</h2>
</section>
<section class="section">
<div class="container is-max-desktop">
<h2 class="title is-3" style="text-align: center;">
Additional HTP Results
</h2>
<div class="columns is-centered">
<div class="column">
<div class="content">
<video id="exp1" autoplay muted loop playsinline height="60%">
<source src="./static/videos/exp1.mp4" type="video/mp4">
</video>
</div>
</div>
<div class="column">
<div class="content">
<video id="exp2" autoplay muted loop playsinline height="60%">
<source src="./static/videos/exp2.mp4" type="video/mp4">
</video>
</div>
</div>
<div class="column">
<div class="content">
<video id="exp3" autoplay muted loop playsinline height="60%">
<source src="./static/videos/exp3.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column">
<div class="content">
<video id="exp4" autoplay muted loop playsinline height="60%">
<source src="./static/videos/exp4.mp4" type="video/mp4">
</video>
</div>
</div>
<div class="column">
<div class="content">
<video id="exp5" autoplay muted loop playsinline height="60%">
<source src="./static/videos/exp5.mp4" type="video/mp4">
</video>
</div>
</div>
<div class="column">
<div class="content">
<video id="exp6" autoplay muted loop playsinline height="60%">
<source src="./static/videos/exp6.mp4" type="video/mp4">
</video>
</div>
</div>
</div>
</div>
</section>
<!-- specific verb -->
<section class="section">
<div class="container is-max-desktop">
<h2 class="title is-3" style="text-align: center;">
Text Prompt Tuning
</h2>
<div class="columns is-centered">
<div class="column">
<div class="columns is-multiline">
<div class="column is-half">
<div class="content">
<video id="exp1" autoplay muted loop playsinline width="100%">
<source src="./static/videos/without_verb_crop.mp4" type="video/mp4">
</video>
<p style="text-align: center; font-size: 0.9em; font-family: Verdana, sans-serif;">
“hand”
</p>
</div>
</div>
<div class="column is-half">
<div class="content">
<video id="exp2" autoplay muted loop playsinline width="100%">
<source src="./static/videos/with_verb_crop.mp4" type="video/mp4">
</video>
<p style="text-align: center; font-size: 0.9em; font-family: Verdana, sans-serif;">
“hand, which is scooping”
</p>
</div>
</div>
<div class="column is-half">
<div class="content">
<video id="exp3" autoplay muted loop playsinline width="100%">
<source src="./static/videos/without_verb_crop_2.mp4" type="video/mp4">
</video>
<p style="text-align: center; font-size: 0.9em; font-family: Verdana, sans-serif;">
“hand”
</p>
</div>
</div>
<div class="column is-half">
<div class="content">
<video id="exp4" autoplay muted loop playsinline width="100%">
<source src="./static/videos/with_verb_crop_2.mp4" type="video/mp4">
</video>
<p style="text-align: center; font-size: 0.9em; font-family: Verdana, sans-serif;">
“hand, which is throwing”
</p>
</div>
</div>
</div>
</div>
<div class="column is-one-third">
<div class="content">
<figure>
<img src="./static/images/verb3.png" alt="Image description" style="width: 100%;">
</figure>
</div>
</div>
</div>
</div>
</section>
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@article{park2021nerfies,
author = {Park, Keunhong and Sinha, Utkarsh and Barron, Jonathan T. and Bouaziz, Sofien and Goldman, Dan B and Seitz, Steven M. and Martin-Brualla, Ricardo},
title = {Nerfies: Deformable Neural Radiance Fields},
journal = {ICCV},
year = {2021},
}</code></pre>
</div>
</section>
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