arXiv:2608.03127cs.ROcs.AI2026-08

用解剖单元符号化手部动作,实现可编辑、可修复的紧凑表示。

DigitCode: Symbolic Tokenization of Hand Motion by Anatomical Units

论文配图:DigitCode: Symbolic Tokenization of Hand Motion by Anatomical Units
图 1 · 摘自论文原文
  • 按骨骼、手指、手掌层级设计符号编码,分层组织手部运动信息
  • 符号化表示量化误差降低75%,且无需训练即可保持高重建精度
  • 支持手部生成修复与机器人动作迁移,适合动作生成与人机交互研究

手部运动蕴含人类活动中最精细的信息,但当前手部生成、理解与机器人学习中的表示大多为连续变量(如关节角或MANO参数),虽准确却缺乏结构:无法对单个手指进行索引或编辑,也无法判断姿态是否解剖学合理。离散符号表示恰好能提供这种结构。手部兰巴诺塔(Hand Labanotation, HL)已证明其可行性,将运动表示为40个骨节方向符号构成的T×40网格。本文在此基础上追问核心问题:符号应覆盖的解剖单位——是骨、手指还是整只手?DigitCode通过沿手部解剖层级适配、组合与分层使用HL字母表,在单一编码中给出答案,使符号表示的量化误差降低四分之三。关键发现:单位层级才是决定性能的核心,而非量化器类型;在固定单位下,无需训练的强量化器与学习型量化器在重建上等效,而向下推进解剖层级才显著提升精度。由于手指是真实可数的单位,每指一个符号既可作为无需训练的可编辑控制柄,又可用于修复生成的手部畸形、实现向机器人动作的重定向。我们发布HandTok,一个可复现的测试平台,支持按单位对比不同手部编码器。项目页面:https://digitcode-demo.github.io。

原文摘要 · Abstract (English)

Hand motion carries the finest-grained information in human activity, yet the representations behind hand generation, understanding, and robot learning are overwhelmingly continuous--joint angles or MANO parameters. These are accurate but unstructured: a finger cannot be indexed or edited as a symbol, and nothing marks a pose as anatomically valid. Discrete symbolic representations supply exactly this structure, and Hand Labanotation (HL) has shown they are feasible for the hand, writing motion as a T x 40 grid of one fixed direction symbol per bone. Building on this grid, we ask the question underneath it: the anatomical unit a symbol should span--bone, finger, or whole hand. DigitCode answers it by adapting, grouping, and layering HL's alphabet along the hand's unit hierarchy within one code, cutting the symbolic representation's quantization error by three quarters. The lever is the unit, not the quantizer family: at a fixed unit, training-free and learned strong quantizers are interchangeable on reconstruction, while moving down the anatomical hierarchy is what shifts accuracy. The hierarchy also tracks what downstream tasks need. Because a finger is a genuine, enumerable unit, one per-finger token doubles as a training-free, editable handle for jobs a continuous representation cannot address--repairing malformed generated hands, and retargeting them onto robots. We release HandTok, a reproducible testbed, so hand tokenizers can be compared unit-for-unit. Project page: https://digitcode-demo.github.io.

手部建模符号表示动作生成

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