# MEgoVista demo collection test: reconstructing hand motion when a cup blocks the fingers

- Source: Reddit r/robotics
- Published: 2026-10-12T22:47:11.000Z
- RoboHot: https://robohot.news/en/items/hr6m2xv8hze7keqnhyt6wuurj
- Original: https://www.reddit.com/r/robotics/comments/1x4gco8/teaching_a_robot_to_make_bubble_tea_the_cup_keeps/

## Summary

MEgoVista reconstructs hand motion when an object occludes the hand: when the demonstrator naturally grips a cup and some fingers are blocked by the cup, the system can still extend the reconstructed hand into the occluded region. The method optimizes hand motion over the entire video, combining reliable visual observations with temporal continuity and anatomical constraints, thereby using information beyond a single occluded frame. For small teams collecting robot demonstration data, this means demonstrators do not need to change their grip to expose their fingers.