We present PROGRESSOR, a novel framework that learns a task-agnostic reward function from videos, enabling policy training through goal-conditioned reinforcement learning (RL) without manual supervision. Underlying this reward is an estimate of the distribution over task progress as a function of the current, initial, and goal observations that is learned in a self-supervised fashion. Crucially, PROGRESSOR refines rewards adversarially during online RL training by pushing back predictions for out-of-distribution observations in order to mitigate distribution shift inherent in non-expert observations. Utilizing this progress prediction as a dense reward together with an adversarial push-back, we show that PROGRESSOR enables robots to learn complex behaviors without any external supervision. Pretrained on large-scale egocentric human video from EPIC-KITCHENS, PROGRESSOR requires no fine-tuning on in-domain task-specific data for generalization to real-robot offline RL under noisy demonstrations, outperforming contemporary methods that provide dense visual reward for robotic learning. Our findings highlight the potential of PROGRESSOR for scalable robotic applications where direct action labels and task-specific rewards are not readily available.
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This paper presents an effective approach for learning novel 4D embodied world models, which predict the dynamic evolution of 3D scenes over time in response to an embodied agent's actions, providing both spatial and temporal consistency. We propose to learn a 4D world model by training on RGB-DN (RGB, Depth, and Normal) videos.This not only surpasses traditional 2D models by incorporating detailed shape, configuration, and temporal changes into their predictions, but also allows us to effectively learn accurate inverse dynamic models for an embodied agent. Specifically, we first extend existing robotic manipulation video datasets with depth and normal information leveraging off-the-shelf models. Next, we fine-tune a video generation model on this annotated dataset, which jointly predicts RGB-DN (RGB, Depth, and Normal) for each frame. We then present an algorithm to directly convert generated RGB, Depth, and Normal videos into a high-quality 4D scene of the world. Our method ensures temporal and spatial coherence in 4D scene predictions from embodied scenarios, enables novel view synthesis for embodied environments, and facilitates policy learning that significantly outperforms those derived from prior video-based world models.
Deep neural network (DNN)-based policy models, such as vision-language-action (VLA) models, excel at automating complex decision-making from multi-modal inputs. However, scaling these models greatly increases computational overhead, complicating deployment in resource-constrained settings like robot manipulation and autonomous driving. To address this, we propose Saliency-Aware Quantized Imitation Learning (\method), which combines quantization-aware training with a selective loss-weighting strategy for mission-critical states. By identifying these states via saliency scores and emphasizing them in the training loss, \method preserves decision fidelity under low-bit precision. We validate \method's generalization capability across extensive simulation benchmarks with environment variations, real-world tasks, and cross-domain tasks (self-driving, physics simulation), consistently recovering full-precision performance. Notably, a 4-bit weight-quantized VLA model for robotic manipulation achieves up to 2.5xspeedup and 2.5xenergy savings on an edge GPU with minimal accuracy loss. These results underline \method's potential for efficiently deploying large IL-based policy models on resource-limited devices.
Creating a physical digital twin of a real-world object has immense potential in robotics, content creation, and XR. In this paper, we present PhysTwin, a novel framework that uses sparse videos of dynamic objects in interaction to produce a photo- and physically realistic, real-time interactive virtual replica.Our approach centers on two key components: (1) a physics-informed representation that combines spring-mass models for realistic physical simulation, generative shape models for geometry, and Gaussian splats for rendering, and (2) a novel multi-stage optimization-based inverse modeling framework that reconstructs complete geometry, infers dense physical properties, and replicates realistic appearance from videos. Our method integrates an inverse physics framework with visual perception cues, enabling high-fidelity reconstruction even from partial, occluded, and limited viewpoints.PhysTwin supports modeling various deformable objects, including ropes, stuffed animals, cloth, and delivery packages. Experiments show that PhysTwin outperforms competing methods in reconstruction, rendering, future prediction, and simulation under novel interactions. We further demonstrate its applications in interactive real-time simulation and model-based robotic motion planning. Project Page: https://jianghanxiao.github.io/phystwin-web/
We propose SiM3D, the first benchmark considering the integration of multiview and multimodal information for comprehensive 3D anomaly detection and segmentation (ADS) where the task is to produce a voxel-based Anomaly Volume. Moreover, SiM3D focuses on a scenario of high interest in manufacturing: single-instance anomaly detection, where only one object, either real or synthetic, is available for training. In this respect, SiM3D stands out as the first ADS benchmark that addresses the challenge of generalizing from synthetic training data to real test data. SiM3D includes a novel multimodal multiview dataset acquired using top-tier industrial sensors and robots. The dataset features multiview high-resolution images (12 \tt Mpx ) and point clouds (~7M points) for 333 instances of eight types of objects, alongside a CAD model for each type. We also provide manually annotated 3D segmentation GTs for anomalous test samples. To establish reference baselines for the proposed multiview 3D ADS task, we adapt prominent singleview methods and assess their performance using novel metrics that operate on Anomaly Volumes.
monoVLN: Bridging the Observation Gap between Monocular and Panoramic Vision and Language Navigation
PDF ↗Vision and Language Navigation(VLN) requires agents to navigate 3D environments by following natural language instructions. While existing methods predominantly assume access to panoramic observations, many practical robotics are equipped with monocular RGBD cameras, creating a significant configuration disparity. In this work, we address this critical gap by developing a novel 3DGS-based framework for monocular VLN agents, focusing on the intrinsic information incompleteness challenge. Our approach incorporates two key innovations: (1) implicit partial completion module for inferring representations of missing regions in incompletely rendered panoramic feature maps, and (2) an uncertainty-aware active perception strategy that enables the agent to actively acquire visual observation when uncertain about its decision. Extensive experiments on R2R-CE and RxR-CE datasets demonstrate that our monoVLN outperforms all existing monocular methods, significantly improve 8% success rate on R2R-CE compared to previous monocular methods. We also validate our monoVLN in real-world environments, providing a practical solution for real-world VLN.
Synthesizing realistic Human-Object Interaction (HOI) motions is essential for creating believable digital characters and intelligent robots. Existing approaches rely on data-intensive learning models that struggle with the compositional structure of daily HOI motions, particularly for complex multi-object manipulation tasks. The exponential growth of possible interaction scenarios makes comprehensive data collection prohibitively expensive. The fundamental challenge is synthesizing unseen, complex HOI sequences without extensive task-specific training data. Here we show that PrimHOI generates complex HOI motions through spatial and temporal composition of generalizable interaction primitives defined by relative geometry. Our approach demonstrates that repetitive local contact patterns -- grasping, clamping, and supporting -- serve as reusable building blocks for diverse interaction sequences. Unlike previous data-driven methods requiring end-to-end training for each task variant, PrimHOI achieves zero-shot transfer to unseen scenarios through hierarchical primitive planning. Experimental validation demonstrates substantial improvements in adaptability, diversity, and motion quality compared to existing approaches.
Tracking Any Point (TAP) in a video is a challenging computer vision problem with many demonstrated applications in robotics, video editing, and 3D reconstruction. Existing methods for TAP rely heavily on complex tracking-specific inductive biases and heuristics, limiting their generality and potential for scaling. To address these challenges, we present TAPNext, a new approach that casts TAP as sequential masked token decoding. Our model is causal, tracks in a purely online fashion, and removes tracking-specific inductive biases. This enables TAPNext to run with minimal latency, and removes the temporal windowing required by many existing state of art trackers. Despite its simplicity, TAPNext achieves a new state-of-the-art tracking performance among both online and offline trackers. Finally, we present evidence that many widely used tracking heuristics emerge naturally in TAPNext through end-to-end training.
The ability to predict collision-free future trajectories from egocentric observations is crucial in applications such as humanoid robotics, VR / AR, and assistive navigation. In this work, we introduce the challenging problem of predicting a sequence of future 6D head poses from an egocentric video. In particular, we predict both head translations and rotations to learn the active information-gathering behavior expressed through head-turning events. To solve this task, we propose a framework that reasons over temporally aggregated 3D latent features, which models the geometric and semantic constraints for both the static and dynamic parts of the environment. Motivated by the lack of training data in this space, we further contribute a data collection pipeline using the Project Aria glasses, and present a dataset collected through this approach. Our dataset, dubbed Aria Navigation Dataset (AND), consists of 4 hours of recording of users navigating in real-world scenarios. It includes diverse situations and navigation behaviors, providing a valuable resource for learning real-world egocentric navigation policies. Extensive experiments show that our model learns human-like navigation behaviors such as waiting / slowing down, rerouting, and looking around for traffic while generalizing to unseen environments. Check out our project webpage at https://sites.google.com/stanford.edu/lookout.
Mainstream visuomotor policies predominantly rely on generative models for holistic action prediction, while current autoregressive policies, predicting the next token or chunk, have shown suboptimal results. This motivates a search for more effective learning methods to unleash the potential of autoregressive policies for robotic manipulation. This paper introduces a bidirectionally expanded learning approach, termed Dense Policy, to establish a new paradigm for autoregressive policies in action prediction. It employs a lightweight encoder-only architecture to iteratively unfold the action sequence from an initial single frame into the target sequence in a coarse-to-fine manner with logarithmic-time inference. Extensive experiments validate that our dense policy has superior autoregressive learning capabilities and can surpass existing holistic generative policies. Our policy, example data, and training code will be publicly available upon publication.
Recent advances in 3D reconstruction techniques and vision-language models have fueled significant progress in 3D semantic understanding, a capability critical to robotics, autonomous driving, and virtual/augmented reality. However, methods that rely on 2D priors are prone to a critical challenge: cross-view semantic inconsistencies induced by occlusion, image blur, and view-dependent variations. These inconsistencies, when propagated via projection supervision, deteriorate the quality of 3D Gaussian semantic fields and introduce artifacts in the rendered outputs. To mitigate this limitation, we propose CCL-LGS, a novel framework that enforces view-consistent semantic supervision by integrating multi-view semantic cues. Specifically, our approach first employs a zero-shot tracker to align a set of SAM-generated 2D masks and reliably identify their corresponding categories. Next, we utilize CLIP to extract robust semantic encodings across views. Finally, our Contrastive Codebook Learning (CCL) module distills discriminative semantic features by enforcing intra-class compactness and inter-class distinctiveness. In contrast to previous methods that directly apply CLIP to imperfect masks, our framework explicitly resolves semantic conflicts while preserving category discriminability. Extensive experiments demonstrate that CCL-LGS outperforms previous state-of-the-art methods. Our project page is available at https://epsilontl.github.io/CCL-LGS/.
The field of multimodal robot navigation in indoor environments has garnered significant attention in recent years. However, as tasks and methods become more advanced, the action decision systems tend to become more complex and operate as black-boxes. For a reliable system, the ability to explain or describe its decisions is crucial; however, there tends to be a trade-off in that explainable systems cannot outperform non-explainable systems in terms of performance. In this paper, we propose incorporating the task of describing actions in language into the reinforcement learning of navigation as an auxiliary task. Existing studies have found it difficult to incorporate describing actions into reinforcement learning due to the absence of ground-truth data. We address this issue by leveraging knowledge distillation from pre-trained description generation models, such as vision-language models. We comprehensively evaluate our approach across various navigation tasks, demonstrating that it can describe actions while attaining high navigation performance. Furthermore, it achieves state-of-the-art performance in the particularly challenging multimodal navigation task of semantic audio-visual navigation.
When interacting with objects, humans effectively reason about which regions of objects are viable for an intended action, i.e., the affordance regions of the object. They can also account for subtle differences in object regions based on the task to be performed and whether one or two hands need to be used. However, current vision-based affordance prediction methods often reduce the problem to naive object part segmentation. In this work, we propose a framework for extracting affordance data from human activity video datasets. Our extracted 2HANDS dataset contains precise object affordance region segmentations and affordance class-labels as narrations of the activity performed. The data also accounts for bimanual actions, i.e., two hands co-ordinating and interacting with one or more objects. We present a VLM-based affordance prediction model, 2HandedAfforder, trained on the dataset and demonstrate superior performance over baselines in affordance region segmentation for various activities. Finally, we show that our predicted affordance regions are actionable, i.e., can be used by an agent performing a task, through demonstration in robotic manipulation scenarios.
Visual Robot Manipulation (VRM) aims to enable a robot to follow natural language instructions based on robot states and visual observations, and therefore requires costly multi- modal data. To compensate for the deficiency of robot data, existing approaches have employed vision-language pre- training with large-scale data. However, they either utilize web data that differs from robotic tasks, or train the model in an implicit way (e.g., predicting future frames at the pixel level), thus showing limited generalization ability under in- sufficient robot data. In this paper, we propose to learn from large-scale human action video datasets in an explicit way (i.e., imitating human actions from hand keypoints), introduc- ing Visual Robot Manipulation with Analogical Reasoning (AR-VRM). To acquire action knowledge explicitly from hu- man action videos, we propose a keypoint Vision-Language Model (VLM) pretraining scheme, enabling the VLM to learn human action knowledge and directly predict human hand keypoints. During fine-tuning on robot data, to facilitate the robotic arm in imitating the action patterns of human motions, we first retrieve human action videos that perform similar manipulation tasks and have similar historical obser- vations, and then learn the Analogical Reasoning (AR) map between human hand keypoints and robot components. Tak- ing advantage of focusing on action keypoints instead of irrel- evant visual cues, our method achieves leading performance on the CALVIN benchmark and real-world experiments. In few-shot scenarios, our AR-VRM outperforms previous meth- ods by large margins, underscoring the effectiveness of explicitly imitating human actions under data scarcity. Code available at https://github.com/idejie/ar.
Understanding multimodal signals in egocentric vision, such as RGB video, depth, camera poses, and gaze, is essential for applications in augmented reality, robotics, and human-computer interaction, enabling systems to better interpret the camera wearer's actions, intentions, and surrounding environment. However, building large-scale egocentric multimodal and multitask models presents unique challenges. Egocentric data are inherently heterogeneous, with large variations in modality coverage across devices and settings. Generating pseudo-labels for missing modalities, such as gaze or head-mounted camera trajectories, is often infeasible, making standard supervised learning approaches difficult to scale. Furthermore, dynamic camera motion and the complex temporal and spatial structure of first-person video pose additional challenges for the direct application of existing multimodal foundation models. To address these challenges, we introduce a set of efficient temporal tokenizers and propose EgoM2P, a masked modeling framework that learns from temporally-aware multimodal tokens to train a large, general-purpose model for egocentric 4D understanding. This unified design supports multitasking across diverse egocentric perception and synthesis tasks, including gaze prediction, egocentric camera tracking, and monocular depth estimation from egocentric video, and also serves as a generative model for conditional egocentric video synthesis. Across these tasks, EgoM2P matches or outperforms specialist models while being an order of magnitude faster. We will fully open-source EgoM2P to support the community and advance egocentric vision research.
Affordance, defined as the potential actions that an object offers, is crucial for embodied AI agents. For example, such knowledge directs an agent to grasp a knife by the handle for cutting or by the blade for safe handover. While existing approaches have made notable progress, affordance research still faces three key challenges: data scarcity, poor generalization, and real-world deployment. Specifically, there is a lack of large-scale affordance datasets with precise segmentation maps, existing models struggle to generalize across different domains or novel object and affordance classes, and little work demonstrates deployability in real-world scenarios. In this work, we address these issues by proposing a complete affordance learning system that (1) takes in egocentric videos and outputs precise affordance annotations without human labeling, (2) leverages geometric information and vision foundation models to improve generalization, and (3) introduces a framework that facilitates affordance-oriented robotic manipulation such as tool grasping and robot-to-human tool handover. Experimental results show that our model surpasses the state-of-the-art by 13.8% in mIoU, and the framework achieves 77.1% successful grasping among 179 trials, including evaluations on seen, unseen classes, and cluttered scenes. Project page: https://reagan1311.github.io/affgrasp.
A versatile video depth estimation model should be consistent and accurate across frames, produce high-resolution depth maps, and support real-time streaming. We propose a method, FlashDepth, that satisfies all three requirements, performing depth estimation for a 2044x1148 streaming video at 24 FPS. We show that, with careful modifications to pretrained single-image depth models, these capabilities are enabled with relatively little data and training. We validate our approach across multiple unseen datasets against state-of-the-art depth models, and find that our method outperforms them in terms of boundary sharpness and speed by a significant margin, while maintaining competitive accuracy. We hope our model will enable various applications that require high-resolution depth, such as visual effects editing, and online decision-making, such as robotics. We release all code and model weights at https://github.com/Eyeline-Research/FlashDepth.
In many robotics and VR/AR applications, fast camera motions lead to a high level of motion blur, causing existing camera pose estimation methods to fail. In this work, we propose a novel framework that leverages motion blur as a rich cue for motion estimation rather than treating it as an unwanted artifact. Our approach works by predicting a dense motion flow field and a monocular depth map directly from a single motion-blurred image. We then recover the instantaneous camera velocity by solving a linear least squares problem under the small motion assumption. In essence, our method produces an IMU-like measurement that robustly captures fast and aggressive camera movements. To train our model, we construct a large-scale dataset with realistic synthetic motion blur derived from ScanNet++v2 and further refine our model by training end-to-end on real data using our fully differentiable pipeline. Extensive evaluations on real-world benchmarks demonstrate that our method achieves state-of-the-art angular and translational velocity estimates, outperforming current methods like MASt3R and COLMAP.
LiDAR localization is a fundamental task in autonomous driving and robotics. Scene Coordinate Regression (SCR) exhibits leading pose accuracy, achieving impressive results in learning-based localization. We observe that the real-world LiDAR scans captured from different viewpoints usually result in the catastrophic collapse of SCR. However, existing LiDAR localization methods have largely overlooked the issue of rotation sensitivity in SCR. In this paper, we present RALoc, an outdoor LiDAR localization method with rotation awareness to achieve accurate localization. The key to our approach is to design a Point Cloud Canonicalization module, which leverages a powerful equivariant key feature aggregation to transform the input LiDAR scan towards a consistent orientation, effectively eliminating the adverse effects of rotation. This proposed module has promising scalability and can be seamlessly integrated with the existing LiDAR localization network. Moreover, we propose the Bidirectional LiDAR Localization (BiLiLo) dataset as a benchmark to evaluate the performance of various methods in large outdoor scenes with significant rotation changes. Extensive experiments show that RALoc significantly improves localization performance in scenarios with large rotation changes, and also achieves competitive performance in the Oxford Radar RobotCar dataset. Our code and dataset will be released upon acceptance.
Pose estimation from unordered images is fundamental for 3D reconstruction, robotics, and scientific imaging. Recent geometric foundation models, such as DUSt3R, enable end-to-end dense 3D reconstruction but remain underexplored in scientific imaging fields like cryo-electron microscopy (cryo-EM) for near-atomic protein reconstruction. In cryo-EM, pose estimation and 3D reconstruction from unordered particle images still depend on time-consuming iterative optimization, primarily due to challenges such as low signal-to-noise ratios (SNR) and distortions from the contrast transfer function (CTF). We introduce CryoFastAR, the first geometric foundation model that can directly predict poses from Cryo-EM noisy images for Fast ab initio Reconstruction. By integrating multi-view features and training on large-scale simulated cryo-EM data with realistic noise and CTF modulations, CryoFastAR enhances pose estimation accuracy and generalization. To enhance training stability, we propose a progressive training strategy that first allows the model to extract essential features under simpler conditions before gradually increasing difficulty to improve robustness. Experiments show that CryoFastAR achieves comparable quality while significantly accelerating inference over traditional iterative approaches on both synthetic and real datasets.