arXiv subjects

Mingda Jia

Publications and source records attributed to Mingda Jia.

7 recordsLinked to original sources

arXiv2026

EBench: Elemental Diagnosis of Generalist Mobile Manipulation Policies

We present EBench, a simulation benchmark that diagnoses generalist mobile manipulation policies beyond a single success-rate scalar. EBench comprises 26 diverse and challenging manipulation tasks annotated along 5 capability dimensions and 4 generalization dimensions. We evaluate state-of-the-art generalist manipulation models including $\pi_0$, $\pi_{0.5}$, XVLA, and InternVLA-A1, and reveal that the models exhibit strikingly different capability profiles: $\pi_{0.5}$ achieves the highest test success rate, the best train--test retention, and the strongest mobile manipulation performance; $\pi_0$ leads on dexterous fixed-base and high-precision tasks; XVLA and InternVLA-A1 exhibit complementary strengths across atomic skills and operating regimes. Beyond capability profiling, EBench analyzes the generalization ability from 4 representative perspectives, identifying the impact of different distribution shift factors. The results reveal strengths and weaknesses of models behind an overall score. We hope this benchmark offers a broad set of diagnostic signals to guide iteration on generalist manipulation models.

cs.RO↗

arXiv2026

EgoSim: Egocentric World Simulator for Embodied Interaction Generation

We introduce EgoSim, a closed-loop egocentric world simulator that generates spatially consistent interaction videos and persistently updates the underlying 3D scene state for continuous simulation. Existing egocentric simulators either lack explicit 3D grounding, causing structural drift under viewpoint changes, or treat the scene as static, failing to update world states across multi-stage interactions. EgoSim addresses both limitations by modeling 3D scenes as updatable world states. We generate embodiment interactions via a Geometry-action-aware Observation Simulation model, with spatial consistency from an Interaction-aware State Updating module. To overcome the critical data bottleneck posed by the difficulty in acquiring densely aligned scene-interaction training pairs, we design a scalable pipeline that extracts static point clouds, camera trajectories, and embodiment actions from in-the-wild large-scale monocular egocentric videos. We further introduce EgoCap, a capture system that enables low-cost real-world data collection with uncalibrated smartphones. Extensive experiments demonstrate that EgoSim significantly outperforms existing methods in terms of visual quality, spatial consistency, and generalization to complex scenes and in-the-wild dexterous interactions, while supporting cross-embodiment transfer to robotic manipulation. Codes and datasets will be open soon. The project page is at egosimulator.github.io.

cs.CV↗

arXiv2026

RoboVIP: Multi-View Video Generation with Visual Identity Prompting Augments Robot Manipulation

The diversity, quantity, and quality of manipulation data are critical for training effective robot policies. However, due to hardware and physical setup constraints, collecting large-scale real-world manipulation data remains difficult to scale across diverse environments. Recent work uses text-prompt conditioned image diffusion models to augment manipulation data by altering the backgrounds and tabletop objects in the visual observations. However, these approaches often overlook the practical need for multi-view and temporally coherent observations required by state-of-the-art policy models. Further, text prompts alone cannot reliably specify the scene setup. To provide the diffusion model with explicit visual guidance, we introduce visual identity prompting, which supplies exemplar images as conditioning inputs to guide the generation of the desired scene setup. To this end, we also build a scalable pipeline to curate a visual identity pool from large robotics datasets. Using our augmented manipulation data to train downstream vision-language-action and visuomotor policy models yields consistent performance gains in both simulation and real-robot settings.

cs.CV↗

arXiv2025

Explicit Temporal-Semantic Modeling for Dense Video Captioning via Context-Aware Cross-Modal Interaction

Dense video captioning jointly localizes and captions salient events in untrimmed videos. Recent methods primarily focus on leveraging additional prior knowledge and advanced multi-task architectures to achieve competitive performance. However, these pipelines rely on implicit modeling that uses frame-level or fragmented video features, failing to capture the temporal coherence across event sequences and comprehensive semantics within visual contexts. To address this, we propose an explicit temporal-semantic modeling framework called Context-Aware Cross-Modal Interaction (CACMI), which leverages both latent temporal characteristics within videos and linguistic semantics from text corpus. Specifically, our model consists of two core components: Cross-modal Frame Aggregation aggregates relevant frames to extract temporally coherent, event-aligned textual features through cross-modal retrieval; and Context-aware Feature Enhancement utilizes query-guided attention to integrate visual dynamics with pseudo-event semantics. Extensive experiments on the ActivityNet Captions and YouCook2 datasets demonstrate that CACMI achieves the state-of-the-art performance on dense video captioning task.

cs.CV↗

arXiv2025

DMTrack: Deformable State-Space Modeling for UAV Multi-Object Tracking with Kalman Fusion and Uncertainty-Aware Association

Multi-object tracking (MOT) from unmanned aerial vehicles (UAVs) presents unique challenges due to unpredictable object motion, frequent occlusions, and limited appearance cues inherent to aerial viewpoints. These issues are further exacerbated by abrupt UAV movements, leading to unreliable trajectory estimation and identity switches. Conventional motion models, such as Kalman filters or static sequence encoders, often fall short in capturing both linear and non-linear dynamics under such conditions. To tackle these limitations, we propose DMTrack, a deformable motion tracking framework tailored for UAV-based MOT. Our DMTrack introduces three key components: DeformMamba, a deformable state-space predictor that dynamically aggregates historical motion states for adaptive trajectory modeling; MotionGate, a lightweight gating module that fuses Kalman and Mamba predictions based on motion context and uncertainty; and an uncertainty-aware association strategy that enhances identity preservation by aligning motion trends with prediction confidence. Extensive experiments on the VisDrone-MOT and UAVDT benchmarks demonstrate that our DMTrack achieves state-of-the-art performance in identity consistency and tracking accuracy, particularly under high-speed and non-linear motion. Importantly, our method operates without appearance models and maintains competitive efficiency, highlighting its practicality for robust UAV-based tracking.

eess.SY↗

arXiv2024

ContextHOI: Spatial Context Learning for Human-Object Interaction Detection

Spatial contexts, such as the backgrounds and surroundings, are considered critical in Human-Object Interaction (HOI) recognition, especially when the instance-centric foreground is blurred or occluded. Recent advancements in HOI detectors are usually built upon detection transformer pipelines. While such an object-detection-oriented paradigm shows promise in localizing objects, its exploration of spatial context is often insufficient for accurately recognizing human actions. To enhance the capabilities of object detectors for HOI detection, we present a dual-branch framework named ContextHOI, which efficiently captures both object detection features and spatial contexts. In the context branch, we train the model to extract informative spatial context without requiring additional hand-craft background labels. Furthermore, we introduce context-aware spatial and semantic supervision to the context branch to filter out irrelevant noise and capture informative contexts. ContextHOI achieves state-of-the-art performance on the HICO-DET and v-coco benchmarks. For further validation, we construct a novel benchmark, HICO-ambiguous, which is a subset of HICO-DET that contains images with occluded or impaired instance cues. Extensive experiments across all benchmarks, complemented by visualizations, underscore the enhancements provided by ContextHOI, especially in recognizing interactions involving occluded or blurred instances.

cs.CV↗

arXiv2024

Orchestrating the Symphony of Prompt Distribution Learning for Human-Object Interaction Detection

Human-object interaction (HOI) detectors with popular query-transformer architecture have achieved promising performance. However, accurately identifying uncommon visual patterns and distinguishing between ambiguous HOIs continue to be difficult for them. We observe that these difficulties may arise from the limited capacity of traditional detector queries in representing diverse intra-category patterns and inter-category dependencies. To address this, we introduce the Interaction Prompt Distribution Learning (InterProDa) approach. InterProDa learns multiple sets of soft prompts and estimates category distributions from various prompts. It then incorporates HOI queries with category distributions, making them capable of representing near-infinite intra-category dynamics and universal cross-category relationships. Our InterProDa detector demonstrates competitive performance on HICO-DET and vcoco benchmarks. Additionally, our method can be integrated into most transformer-based HOI detectors, significantly enhancing their performance with minimal additional parameters.

cs.CV↗