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HAP: A Hand-Driven Active Perception Framework for Egocentric Head Motion Prediction

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Egocentric motion forecasting has primarily focused on hands and manipulated objects, leaving future human head motion comparatively underexplored. During manipulation, the head both redirects perception toward the target to acquire task-relevant evidence and coordinates with body and hand motion. We therefore formulate future six Degree of Freedom (6-DoF) head-motion prediction conditioned on observed hand motion and inferred target context, and propose HAP, a Hand-Driven Active Perception framework. HAP infers confidence for each target object from observed hand motion and object geometry. T

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