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arXiv · 2601.19850

EgoHandICL: Egocentric 3D Hand Reconstruction with In-Context Learning

Binzhu Xie·Shi Qiu·Sicheng Zhang·Yinqiao Wang·Hao Xu·Muzammal Naseer·Chi-Wing Fu·Pheng-Ann Heng
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Abstract

Robust 3D hand reconstruction in egocentric vision is challenging due to depth ambiguity, self-occlusion, and complex hand-object interactions. Prior methods mitigate these issues by scaling training data or adding auxiliary cues, but they often struggle in unseen contexts. We present EgoHandICL, the first in-context learning (ICL) framework for 3D hand reconstruction that improves semantic alignment, visual consistency, and robustness under challenging egocentric conditions. EgoHandICL introduces complementary exemplar retrieval guided by vision-language models (VLMs), an ICL-tailored tokenizer for multimodal context, and a masked autoencoder (MAE)-based architecture trained with hand-guided geometric and perceptual objectives. Experiments on ARCTIC and EgoExo4D show consistent gains over state-of-the-art methods. We also demonstrate real-world generalization and improve EgoVLM hand-object interaction reasoning by using reconstructed hands as visual prompts. Code and data: https://github.com/Nicous20/EgoHandICL

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Binzhu Xie, Shi Qiu, Sicheng Zhang, Yinqiao Wang, Hao Xu, Muzammal Naseer, Chi-Wing Fu, Pheng-Ann Heng. 2026-01-27. EgoHandICL: Egocentric 3D Hand Reconstruction with In-Context Learning. https://arxiv.org/abs/2601.19850

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