Searcharxiv⌕ Search
Home/Archive/arXiv

arXiv · 2610.10270

Video Prediction Policy 2: Predict Better, Act Better

Yanjiang Guo·Haodong Yan·Zhide Zhong·Zhongru Zhang·Qingyuan Yang·Qingzhou Lu·Xiaoyu Chen·Yen-Jen Wang·Shuying Deng·Chenghan Yang·Puzhen Yuan·Chenxin Liu·Tun Ban·Xiang Zhu·Yichen Liu·Kun Feng·Haoang Li·Jianyu Chen
View original source ↗Read source document ↗Export metadata ↓

Abstract

World action models (WAMs) have emerged as an important class of generalist robot policies, aiming to transfer video prediction priors to action learning. However, we find that existing WAMs frequently produce incorrect motion predictions in open-ended environment, leading to erroneous actions. We attribute this limitation to two factors: (1) base video models are not optimized for manipulation, and (2) naively incorporating action components into video models can substantially degrade their generalization capabilities. We introduce Video Prediction Policy 2 (VPP2), a WAM that enables strong zero-shot generalization in both video prediction and action generation. First, we curate a large-scale, diverse dataset of manipulation videos to continue pretraining the base video foundation model. We annotate video clips with detailed captions and perform \textit{event-level} video pretraining to promote generalization across open-ended manipulation tasks. Second, we post-train and distill the video model into a single-step visual planner with fixed prediction horizon. Finally, we introduce action module via a mixture-of-transformers (MoT) architecture to learn implicit inverse dynamics model. Experiments demonstrate three key results: (1) VPP2-14B outperforms Cosmos3-64B by 11.0\% points in video prediction instruction-following success rate on open-ended tasks; (2) VPP2 surpasses the strongest baseline by 18.5\% points in success rate on real-world zero-shot ALOHA manipulation tasks; and (3) following benchmark-specific post-training, VPP2 achieves the highest success rates among evaluated methods on the challenging LIBERO-Pro, LIBERO-OOD, and RoboDojo benchmarks.

Explore related subjects

cs.CVcs.RO

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Yanjiang Guo, Haodong Yan, Zhide Zhong, Zhongru Zhang, Qingyuan Yang, Qingzhou Lu, Xiaoyu Chen, Yen-Jen Wang, Shuying Deng, Chenghan Yang, Puzhen Yuan, Chenxin Liu, Tun Ban, Xiang Zhu, Yichen Liu, Kun Feng, Haoang Li, Jianyu Chen. 2026-10-08. Video Prediction Policy 2: Predict Better, Act Better. https://arxiv.org/abs/2610.10270

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Accurate and Efficient Object Pose Estimation via the Aggregation of Diffusion Features

Estimating the pose of objects from images is a crucial task of 3D scene understanding, and recent approaches have shown promising results on very large benchmarks. However, these methods experience a significant performance drop when dealing with unseen objects. To address this problem, we have an in-depth analysis on the features of diffusion models, e.g. Stable Diffusion, which hold substantial potential for modeling unseen objects. Based on this analysis, we then innovatively introduce these diffusion features for object pose estimation. To verify the efficacy of diffusion features for object pose estimation, we propose three distinct architectures (vanilla, nonlinear, and context-aware weight aggregations) that capture and aggregate diffusion features for comparative analysis. To achieve an efficient feature aggregation, we propose a confidence adaptive aggregation network that automatically selects the discriminative features rather than uses all the features, achieving a better speed-and-accuracy trade-off. In particular, our confidence adaptive aggregation network achieves higher accuracy than the previous best arts on unseen objects: 97.7% vs. 93.5% on Unseen LM, 85.5% vs. 76.3% on Unseen O-LM, showing the strong generalizability of our method. On the large-scale BOP benchmark, our method also provides measurable gains, with an average recall of 58.3 compared to 57.9 previously. In addition, CAA reduces computational cost by 1.3-1.5 compared to the CWA variant while maintaining comparable accuracy. Furthermore, CAA reaches real-time performance, achieving over 68 FPS and offering a substantially improved accuracy-efficiency trade-off.

cs.CV↗
arXiv2026

A Survey on Industrial Anomaly Synthesis

This paper presents a comprehensive review of industrial anomaly synthesis (IAS). Existing surveys on industrial anomalies mainly focus on anomaly detection, while IAS is typically treated as an auxiliary component rather than as an independent topic. However, owing to its increasing importance in data augmentation, downstream model training, and controllable industrial inspection, IAS has become a research direction of growing interest. To address the lack of a dedicated review, we survey a broad range of representative methods and organize them into four paradigms: hand-crafted synthesis, distribution hypothesis-based synthesis, generative model (GM)-based synthesis, and vision-language model (VLM)-based synthesis. We further establish a dedicated taxonomy for IAS, which supports more systematic comparison across methods and offers a clearer view of the field's development. Beyond methodological categorization, we summarize the datasets, benchmarks, and evaluation metrics commonly adopted in IAS, and review recent advances in multimodal anomaly synthesis that remain underexplored in prior surveys. We also provide deployment-oriented comparisons and practical guidance by analyzing input requirements, output forms, controllability, cost, downstream tasks, and practical limitations across IAS subcategories. Overall, this survey provides a structured understanding of existing IAS methods, evaluation settings, practical trade-offs, current limitations, and promising future directions, and is intended to serve as a reference for subsequent research in this area. More resources are available at https://github.com/M-3LAB/awesome-anomaly-synthesis.

cs.CV↗
arXiv2026

Boosting the Local Invariance for Better Adversarial Transferability

Transfer-based attacks pose a significant threat to real-world applications by directly targeting victim models with adversarial examples generated on surrogate models. While numerous approaches have been proposed to enhance adversarial transferability, existing works often overlook the intrinsic relationship between adversarial perturbations and input images. In this work, we find that the adversarial perturbations often exhibit poor translation invariance for a given clean image and model, which is attributed to local invariance. Through empirical analysis, we demonstrate a positive correlation between the local invariance of adversarial perturbations w.r.t. the input image and their transferability across models. Based on this finding, we propose a general adversarial transferability boosting technique called the Local Invariance Boosting approach (LI-Boost). Extensive experiments on the standard ImageNet dataset demonstrate that LI-Boost significantly enhances five categories of transfer-based attacks, i.e., gradient-based, input transformation-based, model-related, advanced objective function, and ensemble attacks. The improvements hold not only on conventional CNNs, ViTs, and defense mechanisms, but also on real-world commercial vision API systems and vision-language models. Our approach provides a promising direction for future research on improving adversarial transferability across models. Our code is available at https://github.com/Trustworthy-AI-Group/TransferAttack.

cs.CV↗