---
title: "ActiveAlign: Aligning Egocentric Manipulation via Active Perception"
source: "arXiv AI/CL/LG（论文）"
source_tier: "t2"
url: "https://arxiv.org/abs/2610.36859v1"
permalink: "https://feed.astralor.com/items/itm_b5a36f85d9d1c4075592a496"
published: "2026-10-27T08:54:27.000Z"
score: 55
channel: "tech"
tags: ["安全","RAG","ActiveAlign","Aligning Egocentric Manipulation","Active Perception Real-to-Sim-to-Real","Real2Sim2Real","Most","Real-to-Sim-to-Real"]
---

# ActiveAlign: Aligning Egocentric Manipulation via Active Perception

## 速览

Real-to-Sim-to-Real (Real2Sim2Real) enables structured world representations for planning, interpretability, and safe execution. Most existing approaches rely on passive perception, which creates real2sim gaps due to im…

## 关键点

- Real-to-Sim-to-Real (Real2Sim2Real) enables structured world representations for planning, interpretability, and safe execution.
- Most existing approaches rely on passive perception, which creates real2sim gaps due to imperfect observation.
- Inspired by how humans perceive actively through actions, we propose ActiveAlign, a framework that leverages active perception to align the Real2Sim2Real gap from interactions.

## 全文

Real-to-Sim-to-Real (Real2Sim2Real) enables structured world representations for planning, interpretability, and safe execution. Most existing approaches rely on passive perception, which creates real2sim gaps due to imperfect observation. Inspired by how humans perceive actively through actions, we propose ActiveAlign, a framework that leverages active perception to align the Real2Sim2Real gap from interactions. ActiveAlign introduces two complementary modules: (i) ActiveAlign-Waving, which performs hand-eye calibration by exploiting active hand motions and differentiable rendering, and (ii) ActiveAlign-Touching, which refines object alignment through tactile feedback to achieve millimeter-level precision. Together, these capabilities enable strong real2sim alignment. We demonstrate that ActiveAlign-Waving can be used to curate simulation environments for open-sourced uncalibrated robot manipulation datasets, and demonstrate on a real Unitree G1 robot that ActiveAlign enables fine manipulation of millimeter-scale objects such as pressing buttons and moving sliders.

---

引用前请核对原文;本文由星际流动整理:https://feed.astralor.com/items/itm_b5a36f85d9d1c4075592a496