SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps

Human hand-object interactions encode functional intent, but direct transfer to robotic hands often fails under morphology, contact, and reachability constraints. We present SynManDex, a synthetic pipeline that uses generated human pre-grasps as affordance-aware proposals and resolves the final contacts with robot-native optimization. SynManDex samples object-conditioned digital human pre-grasps, retargets them to dexterous robotic hand poses, optimizes force-closure contacts on the target embodiment, and admits trajectories that pass checks from each step. The resulting keyframes support both grasp-and-lift demonstrations and various prehensile manipulation tasks such as tea pouring, photo taking, and flute playing, designed via VLM agents. As a result, SynManDex combines high grasp quality (86.4\% grasp stability) with 4.67/5 human-likeness (93.4\%). It achieves 80.7\% successes in simulation and 25/30 (83.3\%) real-robot successes when applied to a 36-DOF bimanual dexterous robotic platform.

Dual Arbitrary Scale Super-Resolution for Multi-Contrast MRI

Limited by imaging systems, the reconstruction of Magnetic Resonance Imaging (MRI) images from partial measurement is essential to medical imaging research. Benefiting from the diverse and complementary information of multi-contrast MR images in different imaging modalities, multi-contrast Super-Resolution (SR) reconstruction is promising to yield SR images with higher quality. In the medical scenario, to fully visualize the lesion, radiologists are accustomed to zooming the MR images at arbitrary scales rather than using a fixed scale, as used by most MRI SR methods. In addition, existing multi-contrast MRI SR methods often require a fixed resolution for the reference image, which makes acquiring reference images difficult and imposes limitations on arbitrary scale SR tasks. To address these issues, we proposed an implicit neural representations based dual-arbitrary multi-contrast MRI super-resolution method, called Dual-ArbNet. First, we decouple the resolution of the target and reference images by a feature encoder, enabling the network to input target and reference images at arbitrary scales. Then, an implicit fusion decoder fuses the multi-contrast features and uses an Implicit Decoding Function~(IDF) to obtain the final MRI SR results. Furthermore, we introduce a curriculum learning strategy to train our network, which improves the generalization and performance of our Dual-ArbNet. Extensive experiments in two public MRI datasets demonstrate that our method outperforms state-of-the-art approaches under different scale factors and has great potential in clinical practice.

EgoVSR: Towards High-Quality Egocentric Video Super-Resolution

Due to the limitations of capture devices and scenarios, egocentric videos frequently have low visual quality, mainly caused by high compression and severe motion blur. With the increasing application of egocentric videos, there is an urgent need to enhance the quality of these videos through super-resolution. However, existing Video Super-Resolution (VSR) works, focusing on third-person view videos, are actually unsuitable for handling blurring artifacts caused by rapid ego-motion and object motion in egocentric videos. To this end, we propose EgoVSR, a VSR framework specifically designed for egocentric videos. We explicitly tackle motion blurs in egocentric videos using a Dual Branch Deblur Network (DB$^2$Net) in the VSR framework. Meanwhile, a blurring mask is introduced to guide the DB$^2$Net learning, and can be used to localize blurred areas in video frames. We also design a MaskNet to predict the mask, as well as a mask loss to optimize the mask estimation. Additionally, an online motion blur synthesis model for common VSR training data is proposed to simulate motion blurs as in egocentric videos. In order to validate the effectiveness of our proposed method, we introduce an EgoVSR dataset containing a large amount of fast-motion egocentric video sequences. Extensive experiments demonstrate that our EgoVSR model can efficiently super-resolve low-quality egocentric videos and outperform strong comparison baselines. Our code, pre-trained models, and data will be released.