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EgoEngine: aligned robot views and actions

The two synthesis branches use the same digital twin. The optimized action trajectory controls robot rendering. The two outputs have the same object path and time index.

EgoEngine: aligned robot views and actionsThe two synthesis branches use the same digital twin. The optimized action trajectory controls robot rendering. The two outputs have the same object path and time index. Human video Digital twin scene + camera Observation synthesis remove→render→make a composite Action synthesis retarget → refine Aligned dataset observation + action same trajectory Same object path and time
The author made this diagram from the source figure. A shared digital twin and optimized trajectory supply aligned pairs of synthesized robot observations and executable actions. The solver can use Replay, MPC or residual RL when necessary. This is not a claim of full MCTS. The diagram does not show source input videos, generated frames or deployment results. Open full-size SVG