{"id":"https://openalex.org/W7168170538","doi":"https://doi.org/10.48550/arxiv.2607.08857","title":"AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning","display_name":"AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning","publication_year":2026,"publication_date":"2026-07-09","ids":{"openalex":"https://openalex.org/W7168170538","doi":"https://doi.org/10.48550/arxiv.2607.08857"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.08857","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.08857","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2607.08857","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130549928","display_name":"Iaroslav Kolomiets","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kolomiets, Iaroslav","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140551098","display_name":"Miguel Altamirano Cabrera","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cabrera, Miguel Altamirano","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059197603","display_name":"Artem Lykov","orcid":"https://orcid.org/0000-0001-6119-2366"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lykov, Artem","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140556978","display_name":"Jeffrin Sam","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sam, Jeffrin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140543486","display_name":"Dmitrii Iarchuk","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iarchuk, Dmitrii","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5140531794","display_name":"Yara Mahmoud","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mahmoud, Yara","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130562479","display_name":"Daniia Zinniatullina","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zinniatullina, Daniia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092586333","display_name":"Mikhail Konenkov","orcid":"https://orcid.org/0009-0003-5979-487X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Konenkov, Mikhail","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5140571179","display_name":"Dzmitry Tsetserukou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tsetserukou, Dzmitry","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.4090000092983246,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.4090000092983246,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.24459999799728394,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.10040000081062317,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.9230999946594238},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7818999886512756},{"id":"https://openalex.org/keywords/mixed-reality","display_name":"Mixed reality","score":0.5699999928474426},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5698999762535095},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5602999925613403},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5450999736785889},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5189999938011169},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5185999870300293}],"concepts":[{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.9230999946594238},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7818999886512756},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7124000191688538},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6355999708175659},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5921000242233276},{"id":"https://openalex.org/C206776904","wikidata":"https://www.wikidata.org/wiki/Q1758389","display_name":"Mixed reality","level":3,"score":0.5699999928474426},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5698999762535095},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5602999925613403},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5450999736785889},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5189999938011169},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5185999870300293},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5131000280380249},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3880999982357025},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.37709999084472656},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.37049999833106995},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.3434000015258789},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3091999888420105},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.30720001459121704},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3000999987125397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29919999837875366},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C138591656","wikidata":"https://www.wikidata.org/wiki/Q5157538","display_name":"Computer facial animation","level":4,"score":0.2768000066280365},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.26489999890327454},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.26010000705718994}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.08857","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.08857","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.08857","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.08857","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5614773631095886}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Human":[0],"egocentric":[1],"video":[2],"is":[3],"a":[4,28,54],"scalable":[5],"supervision":[6],"source":[7],"for":[8],"humanoid":[9,55],"policy":[10],"learning,":[11],"but":[12],"current":[13],"pipelines":[14],"struggle":[15],"with":[16,70,88],"hand-object":[17],"occlusion,":[18],"oversimplified":[19],"motion,":[20,49],"or":[21],"specialized":[22],"capture":[23],"hardware.":[24],"We":[25],"introduce":[26],"AgenticFocus,":[27],"Mixed":[29],"Reality":[30],"synthesis":[31],"pipeline":[32],"that":[33],"converts":[34],"ordinary":[35],"first-person-view":[36],"human":[37],"videos":[38],"into":[39],"robot-trainable":[40],"demonstrations":[41],"by":[42],"restoring":[43],"occluded":[44],"object":[45],"geometry,":[46],"reconstructing":[47],"full-hand":[48],"and":[50,60,74,81,95],"retargeting":[51],"it":[52],"to":[53],"embodiment":[56],"through":[57],"camera-relative":[58],"alignment":[59],"layered":[61],"compositing.":[62],"The":[63],"resulting":[64],"dataset":[65],"pairs":[66],"focused":[67],"visual":[68],"observations":[69],"synchronized":[71],"robot":[72],"actions":[73],"states.":[75],"AgenticFocus":[76],"achieves":[77],"lower":[78],"trajectory":[79],"error":[80],"smoother":[82],"wrist":[83],"motion":[84],"than":[85],"cross-embodiment":[86],"baselines,":[87],"SPARC":[89],"scores":[90],"of":[91],"-5.18":[92],"versus":[93],"-5.56":[94],"-6.05.":[96]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-14T00:00:00"}