Significant advancements have been achieved in the realm of understanding poses and interactions of two hands manipulating an object. The emergence of augmented reality (AR) and virtual reality (VR) technologies has heightened the demand for real-time performance in these applications. However, current state-of-the-art models often exhibit promising results at the expense of substantial computational overhead. In this paper, we present a query-optimized real-time Transformer (QORT-Former), the first Transformer-based real-time framework for 3D pose estimation of two hands and an object. We first limit the number of queries and decoders to meet the efficiency requirement. Given limited number of queries and decoders, we propose to optimize queries which are taken as input to the Transformer decoder, to secure better accuracy: (1) we propose to divide queries into three types (a left hand query, a right hand query and an object query) and enhance query features (2) by using the contact information between hands and an object and (3) by using three-step update of enhanced image and query features with respect to one another. With proposed methods, we achieved real-time pose estimation performance using just 108 queries and 1 decoder (53.5 FPS on an RTX 3090TI GPU). Surpassing state-of-the-art results on the H2O dataset by 17.6% (left hand), 22.8% (right hand), and 27.2% (object), as well as on the FPHA dataset by 5.3% (right hand) and 10.4% (object), our method excels in accuracy. Additionally, it sets the state-of-the-art in interaction recognition, maintaining real-time efficiency with an off-the-shelf action recognition module.

To date, the users of test-driven program repair tools suffer from the overfitting problem; a generated patch may pass all available tests without being correct. In the existing work, users are treated as merely passive consumers of the tests. However, what if they are willing to modify the test to better assess the patches obtained from a repair tool? In this work, we propose a novel semi-automatic patch-classification methodology named Poracle . Our key contributions are three-fold. First, we design a novel lightweight specification method that reuses the existing test. Specifically, the users extend the existing failing test with a preservation condition —the condition under which the patched and pre-patched versions should produce the same output. Second, we develop a fuzzer that performs differential fuzzing with a test containing a preservation condition. Once we find an input that satisfies a specified preservation condition but produces different outputs between the patched and pre-patched versions, we classify the patch as incorrect with high confidence. We show that our approach is more effective than the four state-of-the-art patch classification approaches. Last, we show through a user study that the users find our semi-automatic patch assessment method more effective and preferable than the manual assessment.

Understanding the hand-object interactions from an egocentric video has received a great attention recently. So far, most approaches are based on the convolutional neural network (CNN) features combined with the temporal encoding via the long shortterm memory (LSTM) or graph convolution network (GCN) to provide the unified understanding of two hands, an object and their interactions. In this paper, we propose the Transformer-based unified framework that provides better understanding of two hands manipulating objects. In our framework, we insert the whole image depicting two hands, an object and their interactions as input and jointly estimate 3 information from each frame: poses of two hands, pose of an object and object types. Afterwards, the action class defined by the hand-object interactions is predicted from the entire video based on the estimated information combined with the contact map that encodes the interaction between two hands and an object. Experiments are conducted on H2O and FPHA benchmark datasets and we demonstrated the superiority of our method achieving the state-of-the-art accuracy. Ablative studies further demonstrate the effectiveness of each proposed module.