Retargeting human object interaction demonstrations to physics based simulation requires reproducing not only body motion but also the object motion and contacts that make manipulation succeed. However, position only hand trajectories do not specify the contact forces needed to m…
Geometry transformers such as VGGT achieve strong performance by jointly reasoning over multiple views with global attention. However, scaling them to large view collections remains challenging due to the quadratic cost of attention. Moreover, our empirical analysis reveals that…