arXiv subjects

Théo Moutakanni

Publications and source records attributed to Théo Moutakanni.

10 recordsLinked to original sources

arXiv2026

Plan, Watch, Recover: A Benchmark and Architectures for Proactive Procedural Assistance

Proactive multimodal assistants must decide when guidance is needed and what to say, while tracking progress through extended procedures and helping users recover when they depart from the expected plan. Progress is limited by benchmarks that score isolated clips, cover narrow domains, or omit realistic deviations. We introduce EgoProactive, a smart-glasses dataset of procedures across four domains in which users commit step-level deviations and recover from them, paired with reference guidance. We combine it with five re-annotated egocentric and instructional datasets to form Pro$^{2}$Bench, a cross-domain benchmark that scores intervention timing, procedure completion, and response quality. Zero-shot, no frontier or open-weight model completes more than 26% of a procedure's interventions before its first error. We propose PWR (Plan, Watch, Recover), which keeps an explicit plan state in the model's context and revises it after every intervention, including recovery steps after a deviation. Across three open-weight backbones, training on Pro$^{2}$Bench without a plan barely changes performance, while adding the dynamic plan raises average procedure completion from 20% to 27% and improves turn-level decisions and response quality for every backbone. The gains hold on held-out datasets and on deviations never seen in training.

cs.CV↗

arXiv2026

EV-JEPA: Elastic V-JEPA for Any Device and Cross-Device Inference

Foundation models like V-JEPA are increasingly deployed across a heterogeneous edge-cloud continuum spanning smart glasses, phones, robots, and servers. Yet, they are typically trained as rigid, fixed-capacity networks bound to one device, supporting neither reconfigurable compute budgets nor collaborative execution. Existing approaches address only one axis at a time: slimmable and NAS-based methods provide width elasticity but assume single-device inference, whereas split-computing methods enable cross-device collaboration only for fixed partitions and static capacities. We introduce Elastic V-JEPA (EV-JEPA), a single model trained once and deployable everywhere along the continuum. Its width is reconfigurable, and it is natively partitionable across heterogeneous devices. At its core is Transition-Aware Triplet Training (T3). At each step we pick a narrow and a wide width, and train three paths: each width alone, plus a hybrid path that runs the early layers narrow and the rest wide. The hybrid switch point is where one device hands off to another, so the same weights learn both single-device and cross-device execution. Across various benchmarks, EV-JEPA falls within 1 accuracy point of independently trained baselines while improving over previous elastic training approaches by up to 11 accuracy points. Narrow-to-wide cross-device hybrid execution recovers to within 1.1 points of the highest-capacity standalone model and supports many-to-one, any-to-any, and variable-split configurations. Finally, we show that the elastic principle extends beyond the backbone to an elastic token compression mechanism that exposes controllable trade-offs among on-device computation, latency, and accuracy.

cs.CV↗

arXiv2026

Who Needs Labels? Adapting Vision Foundation Models With the Metadata You Already Have

We propose a label-free approach to adapt powerful but generic vision foundation models to specialized scientific domains. Standard supervised fine-tuning is often ill-suited to these settings: labels are scarce, and task-specific training can collapse the model's generality and hurt robustness. We instead leverage metadata to adapt representations to new domains in a self-supervised manner. Our method, FINO, combines a standard self-supervised objective with flexible metadata guidance that handles both highly granular discrete metadata and continuous metadata. It encourages the representation to preserve informative factors while suppressing spurious ones. Across subcellular fluorescence microscopy, Earth observation, wildlife monitoring, and medical imaging, FINO consistently outperforms standard unsupervised domain adaptation and fully supervised adaptation. It also exceeds highly-specialized domain-specific state of the art, while using no task labels for backbone adaptation and only lightweight probes for supervision.

cs.CV↗

arXiv2025

DINOv3

Self-supervised learning holds the promise of eliminating the need for manual data annotation, enabling models to scale effortlessly to massive datasets and larger architectures. By not being tailored to specific tasks or domains, this training paradigm has the potential to learn visual representations from diverse sources, ranging from natural to aerial images -- using a single algorithm. This technical report introduces DINOv3, a major milestone toward realizing this vision by leveraging simple yet effective strategies. First, we leverage the benefit of scaling both dataset and model size by careful data preparation, design, and optimization. Second, we introduce a new method called Gram anchoring, which effectively addresses the known yet unsolved issue of dense feature maps degrading during long training schedules. Finally, we apply post-hoc strategies that further enhance our models' flexibility with respect to resolution, model size, and alignment with text. As a result, we present a versatile vision foundation model that outperforms the specialized state of the art across a broad range of settings, without fine-tuning. DINOv3 produces high-quality dense features that achieve outstanding performance on various vision tasks, significantly surpassing previous self- and weakly-supervised foundation models. We also share the DINOv3 suite of vision models, designed to advance the state of the art on a wide spectrum of tasks and data by providing scalable solutions for diverse resource constraints and deployment scenarios.

cs.CV↗

arXiv2025

Embodied AI Agents: Modeling the World

This paper describes our research on AI agents embodied in visual, virtual or physical forms, enabling them to interact with both users and their environments. These agents, which include virtual avatars, wearable devices, and robots, are designed to perceive, learn and act within their surroundings, which makes them more similar to how humans learn and interact with the environments as compared to disembodied agents. We propose that the development of world models is central to reasoning and planning of embodied AI agents, allowing these agents to understand and predict their environment, to understand user intentions and social contexts, thereby enhancing their ability to perform complex tasks autonomously. World modeling encompasses the integration of multimodal perception, planning through reasoning for action and control, and memory to create a comprehensive understanding of the physical world. Beyond the physical world, we also propose to learn the mental world model of users to enable better human-agent collaboration.

cs.AI↗

arXiv2024

DINOv2 Meets Text: A Unified Framework for Image- and Pixel-Level Vision-Language Alignment

Self-supervised visual foundation models produce powerful embeddings that achieve remarkable performance on a wide range of downstream tasks. However, unlike vision-language models such as CLIP, self-supervised visual features are not readily aligned with language, hindering their adoption in open-vocabulary tasks. Our method, named dino.txt, unlocks this new ability for DINOv2, a widely used self-supervised visual encoder. We build upon the LiT training strategy, which trains a text encoder to align with a frozen vision model but leads to unsatisfactory results on dense tasks. We propose several key ingredients to improve performance on both global and dense tasks, such as concatenating the [CLS] token with the patch average to train the alignment and curating data using both text and image modalities. With these, we successfully train a CLIP-like model with only a fraction of the computational cost compared to CLIP while achieving state-of-the-art results in zero-shot classification and open-vocabulary semantic segmentation.

cs.CV↗

arXiv2024

You Don't Need Domain-Specific Data Augmentations When Scaling Self-Supervised Learning

Self-Supervised learning (SSL) with Joint-Embedding Architectures (JEA) has led to outstanding performances. All instantiations of this paradigm were trained using strong and well-established hand-crafted data augmentations, leading to the general belief that they are required for the proper training and performance of such models. On the other hand, generative reconstruction-based models such as BEIT and MAE or Joint-Embedding Predictive Architectures such as I-JEPA have shown strong performance without using data augmentations except masking. In this work, we challenge the importance of invariance and data-augmentation in JEAs at scale. By running a case-study on a recent SSL foundation model - DINOv2 - we show that strong image representations can be obtained with JEAs and only cropping without resizing provided the training data is large enough, reaching state-of-the-art results and using the least amount of augmentation in the literature. Through this study, we also discuss the impact of compute constraints on the outcomes of experimental deep learning research, showing that they can lead to very different conclusions.

cs.LG↗

arXiv2024

Automatic Data Curation for Self-Supervised Learning: A Clustering-Based Approach

Self-supervised features are the cornerstone of modern machine learning systems. They are typically pre-trained on data collections whose construction and curation typically require extensive human effort. This manual process has some limitations similar to those encountered in supervised learning, e.g., the crowd-sourced selection of data is costly and time-consuming, preventing scaling the dataset size. In this work, we consider the problem of automatic curation of high-quality datasets for self-supervised pre-training. We posit that such datasets should be large, diverse and balanced, and propose a clustering-based approach for building ones satisfying all these criteria. Our method involves successive and hierarchical applications of $k$-means on a large and diverse data repository to obtain clusters that distribute uniformly among data concepts, followed by a hierarchical, balanced sampling step from these clusters. Extensive experiments on three different data domains including web-based images, satellite images and text show that features trained on our automatically curated datasets outperform those trained on uncurated data while being on par or better than ones trained on manually curated data. Code is available at https://github.com/facebookresearch/ssl-data-curation.

cs.LG↗

arXiv2024

Advancing human-centric AI for robust X-ray analysis through holistic self-supervised learning

AI Foundation models are gaining traction in various applications, including medical fields like radiology. However, medical foundation models are often tested on limited tasks, leaving their generalisability and biases unexplored. We present RayDINO, a large visual encoder trained by self-supervision on 873k chest X-rays. We compare RayDINO to previous state-of-the-art models across nine radiology tasks, from classification and dense segmentation to text generation, and provide an in depth analysis of population, age and sex biases of our model. Our findings suggest that self-supervision allows patient-centric AI proving useful in clinical workflows and interpreting X-rays holistically. With RayDINO and small task-specific adapters, we reach state-of-the-art results and improve generalization to unseen populations while mitigating bias, illustrating the true promise of foundation models: versatility and robustness.

cs.CV↗

arXiv2024

DINOv2: Learning Robust Visual Features without Supervision

The recent breakthroughs in natural language processing for model pretraining on large quantities of data have opened the way for similar foundation models in computer vision. These models could greatly simplify the use of images in any system by producing all-purpose visual features, i.e., features that work across image distributions and tasks without finetuning. This work shows that existing pretraining methods, especially self-supervised methods, can produce such features if trained on enough curated data from diverse sources. We revisit existing approaches and combine different techniques to scale our pretraining in terms of data and model size. Most of the technical contributions aim at accelerating and stabilizing the training at scale. In terms of data, we propose an automatic pipeline to build a dedicated, diverse, and curated image dataset instead of uncurated data, as typically done in the self-supervised literature. In terms of models, we train a ViT model (Dosovitskiy et al., 2020) with 1B parameters and distill it into a series of smaller models that surpass the best available all-purpose features, OpenCLIP (Ilharco et al., 2021) on most of the benchmarks at image and pixel levels.

cs.CV↗