To gain finer regional forecasts, many works have explored the regional integration from the global atmosphere, e.g., by solving boundary equations in physics-based methods or cropping regions from global forecasts in data-driven methods. However, the effectiveness of these methods is often constrained by static and imprecise regional boundaries, resulting in poor generalization ability. To address this issue, we propose Spatial-Temporal Weather Forecasting (STCast), a novel AI-driven framework for adaptive regional boundary optimization and dynamic monthly forecast allocation. Specifically, our approach employs a Spatial-Aligned Attention (SAA) mechanism, which aligns global and regional spatial distributions to initialize boundaries and adaptively refines them based on attention-derived alignment patterns. Furthermore, we design a Temporal Mixture-of-Experts (TMoE) module, where atmospheric variables from distinct months are dynamically routed to specialized experts using a discrete Gaussian distribution, enhancing the model's ability to capture temporal patterns. Beyond global and regional forecasting, STCast is evaluated on extreme event prediction and ensemble forecasting. Experimental results demonstrate consistent superiority over other methods across all four tasks. Code: https://github.com/chenhao-zju/STCast
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Vision-Language Models (VLM) exhibit strong reasoning capabilities, showing promise for end-to-end autonomous driving systems. Chain-of-Thought (CoT), as VLM's widely used reasoning strategy, is facing critical challenges. Existing textual CoT has a large gap between text semantic space and trajectory physical space. Although the recent approach utilizes future image to replace text as CoT process, it lacks clear planning-oriented objective guidance to generate images with accurate scene evolution. To address these, we innovatively propose MindDriver, a progressive multimodal reasoning framework that enables VLM to imitate human-like progressive thinking for autonomous driving.MindDriver presents semantic understanding, semantic-to-physical space imagination, and physical-space trajectory planning.To achieve aligned reasoning processes in MindDriver, we develop a feedback-guided automatic data annotation pipeline to generate aligned multimodal reasoning training data. Furthermore, we develop a progressive reinforcement fine-tuningmethod to optimize the alignment through progressive high-level reward-based learning.MindDriver demonstrates superior performance in both nuScences open-loop and Bench2Drive closed-loop evaluation. Codes: https://github.com/hotdogcheesewhite/MindDriver.
Fine-tuning large-scale text-to-video diffusion models to add new generative controls, such as those over physical camera parameters (e.g., shutter speed or aperture), typically requires vast, high-fidelity datasets that are difficult to acquire. In this work, we propose a data-efficient fine-tuning strategy that learns these controls from sparse, low-quality synthetic data. We show that not only does fine-tuning on such simple data enable the desired controls, it actually yields superior results to models fine-tuned on photorealistic "real" data. Beyond demonstrating these results, we provide a framework that justifies this phenomenon both intuitively and quantitatively.
Existing methods achieve high-quality facial albedo capture under controllable lighting, which increases capture cost and limits usability. We propose WildCap, a novel method for high-quality facial albedo capture from a smartphone video recorded in the wild. To disentangle high-quality albedo from complex lighting effects in in-the-wild captures, we propose a novel hybrid inverse rendering framework. We first apply a data-driven method, i.e., SwitchLight, to convert the captured images into more constrained conditions and then adopt model-based inverse rendering. However, unavoidable local artifacts in network predictions, such as shadow-baking, are non-physical and thus hinder accurate inverse rendering of lighting and material. To address this, we propose a novel texel grid lighting model to explain non-physical effects as clean albedo illuminated by local physical lighting. During optimization, we jointly sample a diffusion prior for the albedo map and optimize the lighting, effectively resolving scale ambiguity between local lights and albedo. Other reflectance maps are then predicted from the albedo. Our method achieves significantly better results than prior arts in the same capture setup, closing the quality gap between in-the-wild and controllable recordings by a large margin.
Text-to-motion (T2M) generation aims to create realistic human movements from text descriptions, with promising applications in animation and robotics. Despite recent progress, current T2M models perform poorly on unseen text descriptions due to the small scale and limited diversity of existing motion datasets. To address this problem, we introduce OpenT2M, a million-level, high-quality, and open-source motion dataset containing over 2800 hours of human motion. Each sequence undergoes rigorous quality control through physical feasibility validation and multi-granularity filtering, with detailed second-wise text annotations. We also develop an automated pipeline for creating long-horizon sequences, enabling complex motion generation. Building upon OpenT2M, we introduce MonoFirll, a pretrained motion model that achieves compelling T2M results without complicated designs or technique tricks as "frills'". Its core component is 2D-PRQ, a novel motion tokenizer that captures spatiotemporal dependencies by dividing the human body into biology parts. Experiments show that OpenT2M significantly improves generalization of existing T2M models, while 2D-PRQ achieves superior reconstruction and strong zero-shot performance. We expect OpenT2M and MonoFirll will advance the T2M field by addressing longstanding data quality and benchmarking challenges. The project page is https://research.beingbeyond.com/opent2m
Accurately modeling how real-world materials reflect light remains a core challenge in inverse rendering, largely due to the scarcity of real measured reflectance data. Existing approaches rely heavily on synthetic datasets with simplified illumination and limited material realism, preventing models from generalizing to real-world images. We introduce a large-scale polarized reflection and material dataset of real-world objects, captured with an 8-camera, 346-light Light Stage equipped with cross/parallel polarization. Our dataset spans 218 everyday objects across five acquisition dimensions--multiview, multi-illumination, polarization, reflectance separation, and material attributes--yielding over 1.2M high-resolution images with diffuse-specular separation and analytically derived diffuse albedo, specular albedo, and surface normals. Using this dataset, we train and evaluate state-of-the-art inverse and forward rendering models on intrinsic decomposition, relighting, and sparse-view 3D reconstruction, demonstrating significant improvements in material separation, illumination fidelity, and geometric consistency. We hope that our work can establish a new foundation for physically grounded material understanding and enable real-world generalization beyond synthetic training regimes.
We present PAMotion, a physics-aware diffusion framework for generating realistic full-body human interactions with multiple objects.Existing diffusion-based methods that jointly synthesize human and object motions often struggle to capture the intricate physical interactions--especially those involving complex hand-object contacts. To address this issue, in this paper, we begin with our key observation: in everyday, slow-motion scenarios, object accelerations inherently reveal the underlying physical interactions.If an object's acceleration aligns with gravity, it is likely in free motion with no physical contact from human or other objects; otherwise, it must be in contact--directly or indirectly--with the human body. Building on this intuition, PAMotion jointly models full-body human motion, object motion, and their corresponding accelerations, enforcing physical plausibility through a physics-aware interaction loss.In this loss, we softly penalizes violations of consistency between object acceleration and human-object contact states. PAMotion follows a coarse-to-fine pipline: we first synthesize global torso and object translations, then conditionally refine hand motions and object rotations, achieving both high-level motion-text consistency and low-level physical fidelity. Experiments on two challenging datasets HIMO and ParaHome demonstrate that PAMotion achieves state-of-the-art performance in generating realistic, physically consistent full-body manipulation sequences involving multiple objects. Our code is released at https://github.com/liyuheng520/PAMotion.
Recent progress in video-to-video (V2V) translation has enabled realistic resimulation of embodied AI demonstrations, a capability that allows pretrained robot policies to be transferable to new environments without additional data collection. However, prior works can only operate on a single view at a time, while embodied AI tasks are commonly captured from multiple synchronized cameras to support policy learning. Naively applying single-view models independently to each camera leads to inconsistent appearance across views, and standard transformer architectures do not scale to multi-view settings due to the quadratic cost of cross-view attention. We present VideoWeaver, the first multimodal multi-view V2V translation framework. VideoWeaver is initially trained as a single-view flow-based V2V model. To achieve an extension to the multi-view regime, we propose to ground all views in a shared 4D latent space derived from a feed-forward spatial foundation model, namely, Pi3. This encourages view-consistent appearance even under wide baselines and dynamic camera motion. To scale beyond a fixed number of cameras, we train views at distinct diffusion timesteps, enabling the model to learn both joint and conditional view distributions. This in turn allows autoregressive synthesis of new viewpoints conditioned on existing ones. Experiments show superior or similar performance to the state-of-the-art on the single-view translation benchmarks and, for the first time, physically and stylistically consistent multi-view translations, including challenging egocentric and heterogeneous-camera setups central to world randomization for robot learning.
AeroDGS: Physically Consistent Dynamic Gaussian Splatting for Single-Sequence Aerial 4D Reconstruction
PDF ↗Recent advances in 4D scene reconstruction have greatly improved dynamic modeling across various domains. However, existing approaches remain limited under aerial conditions with single-view capture, wide spatial range, and dynamic objects of limited spatial footprint and large motion disparity. These challenges cause severe depth ambiguity and unstable motion estimation, making monocular aerial reconstruction inherently ill-posed.To this end, we present AeroDGS, a physics-guided 4D Gaussian splatting framework for monocular UAV videos. AeroDGS introduces a Monocular Geometry Lifting module that reconstructs reliable static and dynamic geometry from a single aerial sequence, providing a robust basis for dynamic estimation. To further resolve monocular ambiguity, we propose a Physics-Guided Optimization module that incorporates differentiable ground-support, upright-stability, and trajectory-smoothness priors, transforming ambiguous image cues into physically consistent motion.The framework jointly refines static backgrounds and dynamic entities with stable geometry and coherent temporal evolution. We additionally build a real-world UAV dataset that spans various altitudes and motion conditions to evaluate dynamic aerial reconstruction. Experiments on synthetic and real UAV scenes demonstrate that AeroDGS outperforms state-of-the-art methods, achieving superior reconstruction fidelity in dynamic aerial environments.
Data-driven approaches have revolutionized 3D vision, enabling transformers to effectively reconstruct and generate static 3D objects. However, generating simulative 4D dynamics---realistic temporal deformations of static objects under various physical conditions---remains challenging and often ad hoc despite being critical for building comprehensive 3D world models. Most existing methods assume a predefined physical model and use system identification to estimate parameters, restricting these methods to specific categories and small-scale datasets. We propose that these restrictions can be overcome by learning a data-driven kinematic state parameterization for object-centric physical systems. Specifically, we learn both a latent space of all possible states of the object and a decoder that maps any sampled latent to a plausibly deformed shape of the object. We refer to this parameterization as Neural Object Kinematics (NeuROK), and learn a transformer-based encoder-decoder model on a curated large-scale 4D dataset. This formulation and the learned model significantly simplify the generation of simulative dynamics since we only need to consider the dynamics within a low-dimensional latent space from the Lagrangian mechanics' perspective in classical physics. We demonstrate the effectiveness and generality of this framework across diverse dynamic object types, showing clear advantages over prior works.
Atmospheric turbulence causes spatially varying distortion and blur in long-range imaging, making restoration highly challenging in real-world applications. Supervised methods rely on synthetic training data, whose simulated degradation often cannot faithfully reflect real turbulence. Existing unsupervised methods usually estimate degradation parameters for each frame independently, without exploiting the shared correlations among frames from the same scene. We propose TMFS, an optimization-based and physics-grounded method for unsupervised turbulence restoration. TMFS is based on a physically motivated tilt-then-blur degradation model and represents frame degradations through a shared turbulence structure. By decomposing the distortion and blur of each frame into a scene-shared correlation function and per-frame noise maps, TMFS enables cross-frame information sharing and alleviates the ill-posedness of framewise estimation. Experiments on synthetic and real datasets demonstrate the effectiveness of TMFS and its strong generalization to real turbulence.
Humans rely on the synergistic control of head (cephalomotor) and eye (oculomotor) to efficiently search for visual information in 360deg. However, prior approaches to visual search are limited to a static image, neglecting the physical embodiment and its interaction with the 3D world. How can we develop embodied visual search agents as efficient as humans while bypassing the constraints imposed by real-world hardware? To this end, we propose humanoid visual search where a humanoid agent actively rotates its head to search for objects or paths in an immersive world represented by a 360deg panoramic image. To study visual search in visually-crowded real-world scenarios, we build H* Bench, a new benchmark that moves beyond household scenes to challenging in-the-wild scenes that necessitate advanced visual-spatial reasoning capabilities, such as transportation hubs, large-scale retail spaces, urban streets, and public institutions. Our experiments first reveal that even top-tier proprietary models falter, achieving only 30% success in object and path search. We then use post-training techniques to enhance the open-source models, increasing its success rate by over threefold for both object search (14.83% - 47.38%) and path search (6.44% - 24.94%) on the smallest 3B model. Notably, the lower ceiling of path search reveals its inherent difficulty, which we attribute to the demand for sophisticated spatial commonsense. Our results not only show a promising path forward but also quantify the immense challenge that remains in building MLLM agents that can be seamlessly integrated into everyday human life.
Electromagnetic Inverse Scattering Problems (EISP) seek to reconstruct relative permittivity from scattered fields and are fundamental to applications like medical imaging. This inverse process is inherently ill-posed and highly nonlinear, making it particularly challenging, especially under sparse transmitter setups, e.g., with only one transmitter. While recent machine learning-based approaches have shown promising results, they often rely on time-consuming, case-specific optimization and perform poorly under sparse transmitter setups. To address these limitations, we revisit EISP from a data-driven perspective. The scarcity of transmitters leads to an insufficient amount of measured data, which fails to capture adequate physical information for stable inversion. Accordingly, we propose a fully end-to-end and data-driven framework that predicts the relative permittivity of scatterers from measured fields, leveraging data distribution priors to compensate for the incomplete information from sparse measurements. This design enables data-driven training and feed-forward prediction of relative permittivity while maintaining strong robustness to transmitter sparsity. Extensive experiments show that our method outperforms state-of-the-art approaches in reconstruction accuracy and robustness. Notably, we demonstrate, for the first time, high-quality reconstruction from a single transmitter. This work advances practical electromagnetic imaging by providing a new, cost-effective paradigm to inverse scattering. Code and models are released at https://gomenei.github.io/SingleTX-EISP/.
We introduce EMMA, a physics-informed multimodal framework that recovers all identifiable dynamical parameters of a system directly from raw video, audio, and image-based time-series observations. Unlike prior video-only approaches that struggle with occluded states, hidden actuation inputs, or assumptions about known initial conditions and coordinate frames, EMMA performs joint inference of explicit parameters, implicit dynamical components, and calibration invariants within a unified continuous-time model. EMMA leverages a Liquid Time-Constant (LTC) network to learn latent dynamics from heterogeneous modalities while a physics-constrained loss enforces consistency with the governing differential equations. A unified feature pipeline enables consistent alignment across video trajectories, acoustic signatures, and chart-derived measurements, allowing EMMA to estimate parameters under forced, implicit, and multivariate dynamics without requiring segmentation masks, differentiable rendering, or specialized sensors. Across 100+ scenarios including five standard dynamical benchmarks (75 Delfys videos), real-world rover and quadrotor systems with hidden inputs, and simulation-chart case studies spanning biological and chaotic systems, EMMA delivers robust multi-parameter recovery and significantly outperforms existing single-modality and equation-discovery baselines. Our results establish EMMA as a general, scalable solution for physics-consistent model extraction from opportunistic multimodal data.
Accurately anticipating how complex, diverse scenes will evolve requires models that represent uncertainty, simulate along extended interaction chains, and efficiently explore many plausible futures. Yet most existing approaches rely on dense video or latent-space prediction, expending substantial capacity on dense appearance rather than on the underlying sparse trajectories of points in the scene. This makes large-scale exploration of future hypotheses costly and limits performance when long-horizon, multi-modal motion is essential. We address this by formulating the prediction of open-set future scene dynamics as step-wise inference over sparse point trajectories. Our autoregressive diffusion model advances these trajectories through short, locally predictable transitions, explicitly modeling the growth of uncertainty over time. This dynamics-centric representation enables fast rollout of thousands of diverse futures from a single image, optionally guided by initial constraints on motion, while maintaining physical plausibility and long-range coherence. We further introduce OWM, a benchmark for open-set motion prediction based on diverse in-the-wild videos, to evaluate accuracy and variability of predicted trajectory distributions under real-world uncertainty. Our method matches or surpasses dense simulators in predictive accuracy while achieving orders-of-magnitude higher sampling speed, making open-set future prediction both scalable and practical.
We introduce **MotionEdit**, a novel dataset for motion-centric image editing--the task of modifying subject actions and interactions while preserving identity, structure, and physical plausibility.Unlike existing image editing datasets that focus on static appearance changes or contain only sparse, low-quality motion edits, MotionEdit provides high-fidelity image pairs depicting realistic motion transformations extracted and verified from continuous videos. This new task is not only scientifically challenging but also practically significant, powering downstream applications such as frame-controlled video synthesis and animation.To evaluate model performance on the novel task, we introduce **MotionEdit-Bench**, a benchmark that challenges models on motion-centric edits and measures model performance with generative, discriminative, and preference-based metrics.Benchmark results reveal that motion editing remains highly challenging for existing state-of-the-art diffusion-based editing models.To address this gap, we propose **MotionNFT** (Motion-guided Negative-aware FineTuning), a post-training framework that computes motion alignment rewards based on how well the motion flow between input and model-edited images matches the ground-truth motion, guiding models toward accurate motion transformations.Extensive experiments on FLUX.1 Kontext and Qwen-Image-Edit show that MotionNFT consistently improves editing quality and motion fidelity of both base models on the motion editing task without sacrificing general editing ability, demonstrating its effectiveness.
Recent advances in Vision-Language Models (VLMs) have enabled video-instructed robotic programming, allowing agents to interpret video demonstrations and generate executable control code. We formulate video-instructed robotic programming as a cross-domain adaptation problem, where perceptual and physical differences between demonstration and deployment induce procedural mismatches. However, current VLMs lack the procedural understanding needed to reformulate causal dependencies and achieve task-compatible behavior under such domain shifts. We introduce NeSyCR, a neurosymbolic counterfactual reasoning framework that enables verifiable adaptation of task procedures, providing a reliable synthesis of code policies. NeSyCR abstracts video demonstrations into symbolic trajectories that capture the underlying task procedure. Given deployment observations, it derives counterfactual states that reveal cross-domain incompatibilities. By exploring the symbolic state space with verifiable checks, NeSyCR proposes procedural revisions that restore compatibility with the demonstrated procedure. NeSyCR achieves a 31.14% improvement in task success over the strongest baseline Statler, showing robust cross-domain adaptation across both simulated and real-world manipulation tasks.
Multi-modal large language models (MLLMs) have rapidly advanced in visual tasks, yet their spatial understanding remains limited to single images, leaving them ill-suited for physical-world applications that require multi-frame reasoning. In this paper, we propose a framework to equip MLLMs with multi-frame spatial understanding by integrating fundamental spatial skills, including depth perception, visual correspondence, and dynamic perception. We design a novel data pipeline and collect the MultiSPA dataset of more than 27 million samples spanning diverse 3D and 4D scenes to enable training. Alongside MultiSPA, we introduce a comprehensive benchmark that tests a wide spectrum of spatial tasks under uniform metrics. Our resulting model, Multi-SpatialMLLM, achieves significant gains over baselines and proprietary systems, demonstrating scalable and generalizable multi-frame perception. We further observe multi-task benefits and emergent spatial capabilities in challenging scenarios, and showcase how our model can serve as a multi-frame reward annotator for robotics.
Neural fields (NFs) have achieved remarkable success in scene reconstruction and novel view synthesis. However, existing NF approaches that rely on RGB or LiDAR inputs often struggle under adverse weather conditions, limiting their robustness in real-world outdoor environments such as autonomous driving. In contrast, millimeter-wave radar is inherently resilient to environmental variations, yet its integration with NFs remains largely underexplored. Moreover, outdoor driving scenes frequently involve dynamic objects, making spatiotemporal modeling crucial for temporally consistent novel view synthesis. To address these challenges, we present RF4D, a radar-based neural field framework tailored for novel view synthesis in outdoor dynamic scenes. RF4D explicitly incorporates temporal information into its representation, enabling more accurate modeling of object motion. A dedicated scene flow module further predicts temporal offsets between adjacent frames, enforcing temporal occupancy coherence during dynamic scene reconstruction. Moreover, we propose a radar-specific power rendering formulation grounded in radar sensing physics, improving both synthesis accuracy and interpretability. Extensive experiments on public radar datasets demonstrate that RF4D substantially outperforms existing methods in radar measurement synthesis and occupancy estimation accuracy, with particularly strong gains in dynamic outdoor environments.
We introduce LaviGen, a framework that repurposes 3D generative models for 3D layout generation. Unlike previous methods that infer object layouts from textual descriptions, LaviGen operates directly in the native 3D space, formulating layout generation as an autoregressive process that explicitly models geometric relations and physical constraints among objects, producing coherent and physically plausible 3D scenes. To further enhance this process, we propose an adapted 3D diffusion model to integrate scene, object, and instruction information and employ a dual-guidance self-rollout distillation mechanism to improve efficiency and spatial accuracy. Extensive experiments on the LayoutVLM benchmark show LaviGen achieves superior 3D layout generation performance, with 19% higher physical plausibility than the state of the art and 65% faster computation. We will release our code publicly.