MINT is a foundation model that directly predicts world-space two-hand trajectories from egocentric RGB video, jointly estimating camera motion, hand states, and hand presence in a single spatiotemporal representation. It uses an open-source labeling pipeline, EGOPIPELINE, to generate large-scale pseudo-labels for pretraining, followed by fine-tuning on a small set of high-quality joint annotations. The model outperforms existing multi-stage approaches in accuracy and speed, and generalizes zero‑shot to unseen egocentric datasets.
By Zijie Zhu, Weiren Cai, Yizhou Wang, Zhenjie Yang, Yide Liu, Jiahao Chen, Guanqi He
arXiv:2605.01234v2 Announce Type: replace
Abstract: We present TT4D, a large-scale, high-fidelity table tennis dataset. It provides $140+$ hours of reconstructed singles and doubles gameplay from mon...
By Nima Rahmanian, Daniel Kienzle, Thomas Gossard, Dvij Kalaria, Rainer Lienhart, Shankar Sastry
arXiv:2609.01276v1 Announce Type: new
Abstract: Complete 3D perception from egocentric video requires recovering the surrounding scene and the wearer's full-body motion in a shared metric frame. Exis...
By Kai Guan, Minchao Jiang, Ruichen WangLi, Wentao Zhu, Lei Zhang
arXiv:2610.28594v1 Announce Type: new
Abstract: Reliable multi-view forecasting requires videos from different cameras to describe the same evolving 3D scene. To this end, we introduce Video-Point Mo...
By Byungwoo Jeon, Sunghwan Hong, Dohyeon Kim, Jonghoon Lee, Jungwoo Park, Inhee Lee, Doosan Baek, Jinil Kim, Taehyun Lim, Hanbyul Joo, Marc Pollefeys, Saining Xie, Jinwoo Shin
arXiv:2610.27946v1 Announce Type: new
Abstract: Egocentric action transfer aims to decouple the semantic action from egocentric observations and reproduce them in new visual contexts, enabling scalab...
By Yue Ma, Pengjie Song, Xinyu Wang, Yi He, Zeqian Long, Fangneng Zhan, Kaichen Zhou, Hongyu Liu, Hongfa Wang, Peihao Li, Haoyang Huang, Nan Duan, Qifeng Chen
arXiv:2609.08636v1 Announce Type: cross
Abstract: Egocentric 4D interaction forecasting aims to anticipate both where future interactions will occur in 3D and how the human body will move to realize...
By Qiaohui Chu, Haoyu Zhang, Meng Liu, Haoxiang Shi, Dongmei Jiang, Liqiang Nie
PDRVLA is a Vision‑Language‑Action model that incorporates a lightweight Physical Dynamics Module to extract physical tokens from vision‑language features, enabling action generation without online video synthesis. The module predicts future RGB, depth, and optical‑flow features, guided by auxiliary supervision from a frozen pretrained video world model. Trained solely on publicly available data augmented with human‑to‑robot synthesis, subtask annotation, and embodied chain‑of‑thought (ECoT) annotation, PDRVLA achieves high success rates across four simulation benchmarks, with ablations demonstrating the benefits of world‑model supervision and various conditioning strategies.
By Hanqing Wang, Zhaotian Cai, Ruichuan An, Bohan Zeng, Tao Zhang, Yilin Chen, Xu Jiang, Kaiquan Chen, Chongyang Wu, Haoran Li, Fan Yang, Mingan Lin, Wentao Zhang, Zenan Zhou, Youzheng Wu
The paper introduces the World-Ego Model (WEM), which separates an embodied video into a background‐only world component and an ego component comprising the robot and manipulated objects. By using role‑conditioned attention and asymmetric query budgets for state prediction, coupled with a semantic‑routed mixture‑of‑experts diffusion generator, WEM disentangles the generation of scene evolution and instruction following. The authors also release HTEWorld, a large dataset of 125K training clips and 300 evaluation trajectories for long‑horizon navigation‑manipulation tasks, and demonstrate that WEM outperforms prior methods on this benchmark.
By Zuyao Lin, Jianhui Zhang, Peidong Jia, Xiaoguang Zhao, Shanghang Zhang, Jingdong Wang, Xingyu Chen
arXiv:2609.18430v1 Announce Type: new
Abstract: Modeling physical dynamics, including how objects move, interact, and change state, is central to video world models for embodied AI. We present StrucP...
By WM Team, Enhui Ma, Kaiwen Guo, Tingrui Zhang, Wei Song, Yingshui Tan, Jianhua Xu, Tong Zhang, Kaicheng Yu
Embodied foundation models are expected to benefit from data scaling like large language models, but face a much tighter data bottleneck. Teleoperated real-robot trajectories remain the dominant pretraining source due to their precise action supervision and embodiment alignment, yet their scalability is limited by high collection cost, acquisition difficulty, and low behavioral and environmental diversity.
arXiv:2608.20308v2 Announce Type: replace
Abstract: Egocentric video offers scalable manipulation data for embodied AI, yet recovering metric 3D hand trajectories remains challenging due to severe ob...
By Yufei Liu, Xixi Wang, Hao Li, Ganlong Zhao, Kaitong Cai, Chengkai Jin, Chunxiao Liu, Jianbo Liu, Siyuan Huang, Xingang Pan, Hongsheng Li
arXiv:2606. 00054v1 Announce Type: cross Abstract: Recent progress in generalizable embodied control has been driven by large-scale pretraining of Vision-Language-Action (VLA) models.
By Zhiyuan Feng, Qixiu Li, Huizhi Liang, Rushuai Yang, Yichao Shen, Zhiying Du, Zhaowei Zhang, Yu Deng, Li Zhao, Hao Zhao, Zongqing Lu, Oier Mees, Marc Pollefeys, Jiaolong Yang, Baining Guo