arXiv Computer Vision

Perceiving and Predicting Dynamic Sports: Spatiotemporal Intelligence in Vision Models for Egocentric Tennis Video

The paper introduces a new egocentric tennis dataset and evaluates how well foundation vision models can perform spatiotemporal tasks such as player and ball localization, trajectory forecasting, stroke type anticipation, and contact-time prediction. Seven models—image encoders, video encoders, and vision‑language models—are trained and tested on these tasks, achieving localization errors of 0.14 m for the player and 0.54 m for the ball, and forecasting errors of 0.34 m for the player and 0.91 m for the ball over 1.1 s. The study also shows that auxiliary depth data improves 3D ball localization, that longer image histories do not aid ball forecasting, and proposes a conditional diffusion model that generates real‑time whole‑body kinematic tennis motion from egocentric video predictions.

arXiv Computer Vision
Sep 7

MINT: A Unified Model for World-Space Camera and Hand Motion Estimation from Scalable Egocentric Pipeline Supervision

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 Computer Vision
Oct 21

Learning the 4D World through Point Trajectory Forecasting

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 Computer Vision
Oct 21

Decoupling Action from Egocentric Observation for World Simulation

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 Computer Vision
Oct 28

PDRVLA: A Vision-Language-Action Model with Physical Dynamics Representations

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
arXiv AI
Oct 9

World-Ego Modeling for Embodied Video Generation in Long-Horizon Navigation-Manipulation Tasks

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 Computer Vision
Sep 17

StrucPhysVideo: Learning Physical Dynamics from Structured Captions and Robot Actions

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
Hugging Face Trending Papers
Jun 18

HumanScale: Egocentric Human Video Can Outperform Real-Robot Data for Embodied Pretraining

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 Computer Vision
Sep 1

ACE-Ego-Hand: Repurposing Video Diffusion Models for Occlusion-Robust Egocentric 3D Hand Motion Recovery

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 AI
Jun 2

From Human Videos to Robot Manipulation: A Survey on Scalable Vision-Language-Action Learning with Human-Centric Data

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