Infant simulator with an embodied caregiver: Generating infant-perspective touch and vision during social interaction

Is the sense of touch a mechanism for human babies' learning of visual concepts? If so, can we quantify its importance, and to what extent do babies rely on their sense of touch for visual learning? To approach these questions in a principled way, we propose a structured coding system for baby-centric touch events, yielding a dataset of 264k two-second clips of touch events coded according to this system. Using this dataset, we pretrain developmentally grounded models that reveal promising insights into the nature of baby learning from touch.

We introduce EgoSim, a closed-loop egocentric world simulator that generates spatially consistent interaction videos and persistently updates the underlying 3D scene state for continuous simulation. Existing egocentric simulators either lack explicit 3D grounding, causing structural drift under viewpoint changes, or treat the scene as static, failing to update world states across multi-stage interactions. EgoSim addresses both limitations by modeling 3D scenes as updatable world states. We generate embodiment interactions via a Geometry-action-aware Observation Simulation model, with spatial consistency from an Interaction-aware State Updating module. To overcome the critical data bottleneck posed by the difficulty in acquiring densely aligned scene-interaction training pairs, we design a scalable pipeline that extracts static point clouds, camera trajectories, and embodiment actions from in-the-wild large-scale monocular egocentric videos. We further introduce EgoCap, a capture system that enables low-cost real-world data collection with uncalibrated smartphones. Extensive experiments demonstrate that EgoSim significantly outperforms existing methods in terms of visual quality, spatial consistency, and generalization to complex scenes and in-the-wild dexterous interactions, while supporting cross-embodiment transfer to robotic manipulation. Codes and datasets will be open soon. The project page is at egosimulator.github.io.

Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural correspondence between visual and somatosensory cortices, yet robotic systems lack computational frameworks that instantiate this principle. Here we demonstrate that cortical correspondence can be operationalized to endow robots with mirror touch. We introduce Mirror Touch Net, which imposes semantic, distributional and geometric alignment between visual and tactile representations through multi-level constraints, enabling prediction of millimetre-scale tactile signals across 1,140 taxels on a robotic hand from RGB images. Manifold analysis reveals that these constraints reshape visual representations into geometry consistent with the tactile manifold, reducing the complexity of cross-modal mapping. Extending this alignment framework to cross-domain observations of human hands enables tactile prediction and reflexive responses to observed human touch. Our results link a neural principle of visuo-tactile resonance to robotic perception, providing an explainable route towards anticipatory touch and empathic human-robot interaction. Code is available at https://github.com/fun0515/Mirror-Touch-Net.