StableHand: Quality-Aware Flow Matching for World-Space Dual-Hand Motion Estimation from Egocentric Video

Pretrained checkpoints for StableHand on HOT3D and ARCTIC.

Paper	arXiv 2605.18553
Project page	https://huajian-zeng.github.io/projects/stablehand/
Code	https://github.com/huajian-zeng/stablehand
Video	YouTube

Files

Directory	Description
dit_hot3d/	HOT3D motion prior checkpoint and configuration
dit_arctic/	ARCTIC motion prior checkpoint and configuration
qn/	Quality Network checkpoint and configuration

Usage

Follow the installation and MANO setup instructions, then run from the code repository:

bash scripts/download_pretrained.sh
bash scripts/download_data.sh
bash demo.sh
bash scripts/evaluate.sh all

The benchmark caches and example videos are available at huajian-zeng/stablehand-data.

Citation

@article{zeng2026stablehand,
  title = {StableHand: Quality-Aware Flow Matching for World-Space Dual-Hand Motion Estimation from Egocentric Video},
  author = {Zeng, Huajian and Yao, Chaohua and Zhang, Yuantai and Yang, Jiaqi and Potamias, Rolandos Alexandros and Zuo, Xingxing},
  journal = {arXiv preprint arXiv:2605.18553},
  year = {2026},
}

Terms and provenance

Research use only. Source datasets and upstream components retain their respective terms.