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        content="Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views.">
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<section class="section">
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          <h1 class="title is-3 publication-title">Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views</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://cogito2012.github.io/homepage/">Wentao Bao</a><sup>2</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://github.com">Guanzhong Sun</a><sup>3</sup>,</span>
            <span class="author-block">
              <a href="https://scholar.google.com/citations?user=M4cXM9kAAAAJ&hl=zh-CN">Yu Zheng</a><sup>1</sup>,</span>
            <span class="author-block">
              <a href="https://scholar.google.com/citations?user=j1mUqHEAAAAJ&hl=en">Erhang Zhang</a><sup>1</sup>,</span>
            <span class="author-block">
              <a href="https://scholar.google.com/citations?user=DvrngV4AAAAJ&hl=zh-CN">Xieyuanli Chen</a><sup>4</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>Meta Reality Labs,</span>
            <span class="author-block"><sup>3</sup>China University of Mining and Technology,</span>
            <span class="author-block"><sup>4</sup>National University of Defense Technology</span>
          </div>


          <div class="column has-text-centered">
            <strong>Accepted to TPAMI'26</strong>
          </div>


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                <a href="https://arxiv.org/pdf/2511.12878"
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                  <span>arXiv</span>
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                  <span>Code</span>
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                  <span>Data</span>
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            <img src="./static/images/unihand_motivation.gif"
                 class="architecture-image"
                 alt="architecture-image image."
                 style="width: 40%; display: block; margin: 0 auto;"/>
            <h2 class="content has-text-justified" style="width: 55%; margin: 0 auto;">
              <strong>Uni-Hand</strong> is a universal framework for hand motion forecasting that supports multi-dimensional, multi-target predictions from multi-modal inputs while enabling multi-task affordances for downstream applications.
            </h2>
          </div>


          <div class="column has-text-centered">
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                <h2 class="title is-3">Abstract</h2>
                <div class="content has-text-justified">
                  <p>
                  We propose Uni-Hand, a unified framework for multimodal hand motion forecasting that simultaneously addresses: (1) 2D/3D waypoint prediction, (2) hand-head motion synergy in egocentric vision, and (3) task-aware affordance learning. Our approach integrates vision-language fusion with global context/text instruction injection through a novel dual-branch diffusion architecture. The framework uniquely supports targeted joint-level prediction (wrist/fingers) beyond conventional center-point forecasting, while additionally inferring hand-object interaction states (contact/separation) to enhance downstream applications.</p>
                </div>
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            </div>
          </div>


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              <div class="column is-four-fifths">
                <h2 class="title is-3">Multi-Dimensional Prediction</h2>
            <img src="./static/images/pred_combined.gif"
                 class="architecture-image"
                 alt="architecture-image image."
                 style="width: 70%; display: block; margin: 0 auto;"/>
            <img src="./static/images/egopat_h2o_pred.gif"
                 class="architecture-image"
                 alt="architecture-image image."
                 style="width: 70%; display: block; margin: 0 auto;"/>
              <h2 class="content has-text-justified" style="width: 55%; margin: 0 auto;">
                  Uni-Hand achieves plausible hand motion forecasting in both 2D and 3D spaces.
                </h2>
              </div>
            </div>
          </div>


          <div class="column has-text-centered">
            <div class="columns is-centered has-text-centered">
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                <h2 class="title is-3">Multi-Target Prediction</h2>
              <video id="teaser" autoplay muted loop playsinline height="50%"
                     style="width: 70%; box-shadow: 0 4px 8px 0 rgba(0,0,0,0.2), 0 6px 20px 0 rgba(0,0,0,0.19);">
                <source src="./static/videos/multi_finger_pred.mp4" type="video/mp4">
              </video>
              <h2 class="content has-text-justified" style="width: 55%; margin: 0 auto;">
                  Uni-Hand enables forecasting future joint movements of the wrist or fingers, as well as hand-object contact/separation timings.
                </h2>
              </div>
            </div>
          </div>

          <div class="column has-text-centered">
            <div class="columns is-centered has-text-centered">
              <div class="column is-four-fifths">
                <h2 class="title is-3">Multi-Task Affordances</h2>
            <img src="./static/images/transfer_paradigm_crop.gif"
                 class="architecture-image"
                 alt="architecture-image image."
                 style="width: 70%; display: block; margin: 0 auto;"/>
            <img src="./static/images/action_ant_rec.png"
                 class="architecture-image"
                 alt="architecture-image image."
                 style="width: 70%; display: block; margin: 0 auto;"/>
              <h2 class="content has-text-justified" style="width: 65%; margin: 0 auto;">
                  Uni-Hand provides action planning for robot manipulation, and feature enhancement for action anticipation, early action recognition, and action recognition.
                </h2>
              </div>
            </div>
          </div>


        </div>
    </div>
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</section>


<section class="section" id="BibTeX">
  <div class="container is-max-desktop content">
    <h2 class="title">BibTeX</h2>
    <pre><code>@misc{ma2025mmtwin,
      title={Novel Diffusion Models for Multimodal 3D Hand Trajectory Prediction},
      author={Junyi Ma and Wentao Bao and Jingyi Xu and Guanzhong Sun and Xieyuanli Chen and Hesheng Wang},
      year={2025},
      eprint={2504.07375},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2504.07375},
}</code></pre>
    <pre><code>@misc{ma2025unihand,
      title={Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views},
      author={Junyi Ma and Wentao Bao and Jingyi Xu and Guanzhong Sun and Yu Zheng and Erhang Zhang and Xieyuanli Chen and Hesheng Wang},
      year={2025},
      eprint={2511.12878},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2511.12878},
}
}</code></pre>
  </div>
</section>


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