DeVA: Decoupled Video-Action Model with physical guidance for robot policy learning

Generalizable robot manipulation requires policies that can anticipate how visual scenes evolve while executing language instructions. While recent Vision-Language-Action models benefit from large-scale pretraining, their predominantly static pretraining objectives provide limited supervision for physical dynamics and temporal causality, leaving control-relevant knowledge to be learned from downstream robot demonstrations. Video generative models offer a promising foundation by encoding rich spatiotemporal priors through future predictions. However, existing Video-Action Models either couple video and action prediction in a shared backbone, making policy adaptation harder to optimize, or under-utilize video information when guiding the action branch. In this work, we introduce DeVA, a Decoupled Video-Action model with specialized video and action experts, multi-level feature transfer, and physically salient guidance. DeVA transfers representations from multiple video layers to the action expert, enabling rich information exchange while making policy learning more tractable. It further supervises intermediate video features and the action stream with physically salient guidance (affordance/depth). Experiments on both simulation benchmarks and real-world deployment demonstrate strong performance with limited data, faster convergence than a unified architecture, and clear performance gains from physical guidance.

EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World

Robot learning increasingly depends on large and diverse data, yet robot data collection remains expensive and difficult to scale. Egocentric human data offer a promising alternative by capturing rich manipulation behavior across everyday environments. However, existing human datasets are often limited in scope, difficult to extend, and fragmented across institutions. We introduce EgoVerse, a collaborative platform for human data-driven robot learning that unifies data collection, processing, and access under a shared framework, enabling contributions from individual researchers, academic labs, and industry partners. The current release includes 1,362 hours (80k episodes) of human demonstrations spanning 1,965 tasks, 240 scenes, and 2,087 unique demonstrators, with standardized formats, manipulation-relevant annotations, and tooling for downstream learning. Beyond the dataset, we conduct a large-scale study of human-to-robot transfer with experiments replicated across multiple labs, tasks, and robot embodiments under shared protocols. We find that policy performance generally improves with increased human data, but that effective scaling depends on alignment between human data and robot learning objectives. Together, the dataset, platform, and study establish a foundation for reproducible progress in human data-driven robot learning. Videos and additional information can be found at https://egoverse.ai/

Resolving Interference (RI): Disentangling Models for Improved Model Merging

Model merging has shown that multitask models can be created by directly combining the parameters of different models that are each specialized on tasks of interest. However, models trained independently on distinct tasks often exhibit interference that degrades the merged model's performance. To solve this problem, we formally define the notion of Cross-Task Interference as the drift in the representation of the merged model relative to its constituent models. Reducing cross-task interference is key to improving merging performance. To address this issue, we propose our method, Resolving Interference (RI), a light-weight adaptation framework which disentangles expert models to be functionally orthogonal to the space of other tasks, thereby reducing cross-task interference. RI does this whilst using only unlabeled auxiliary data as input (i.e., no task-data is needed), allowing it to be applied in data-scarce scenarios. RI consistently improves the performance of state-of-the-art merging methods by up to 3.8% and generalization to unseen domains by up to 2.3%. We also find RI to be robust to the source of auxiliary input while being significantly less sensitive to tuning of merging hyperparameters. Our codebase is available at: https://github.com/pramesh39/resolving_interference

Emergence of Human to Robot Transfer in Vision-Language-Action Models

Vision-language-action (VLA) models can enable broad open world generalization, but require large and diverse datasets. It is appealing to consider whether some of this data can come from human videos, which cover diverse real-world situations and are easy to obtain. However, it is difficult to train VLAs with human videos alone, and establishing a mapping between humans and robots requires manual engineering and presents a major research challenge. Drawing inspiration from advances in large language models, where the ability to learn from diverse supervision emerges with scale, we ask whether a similar phenomenon holds for VLAs that incorporate human video data. We introduce a simple co-training recipe, and find that human-to-robot transfer emerges once the VLA is pre-trained on sufficient scenes, tasks, and embodiments. Our analysis suggests that this emergent capability arises because diverse pretraining produces embodiment-agnostic representations for human and robot data. We validate these findings through a series of experiments probing human to robot skill transfer and find that with sufficiently diverse robot pre-training our method can nearly double the performance on generalization settings seen only in human data.

Improving Personalized Search with Regularized Low-Rank Parameter Updates

Personalized vision-language retrieval seeks to recognize new concepts (e.g. "my dog Fido") from only a few examples. This task is challenging because it requires not only learning a new concept from a few images, but also integrating the personal and general knowledge together to recognize the concept in different contexts. In this paper, we show how to effectively adapt the internal representation of a vision-language dual encoder model for personalized vision-language retrieval. We find that regularized low-rank adaption of a small set of parameters in the language encoder's final layer serves as a highly effective alternative to textual inversion for recognizing the personal concept while preserving general knowledge. Additionally, we explore strategies for combining parameters of multiple learned personal concepts, finding that parameter addition is effective. To evaluate how well general knowledge is preserved in a finetuned representation, we introduce a metric that measures image retrieval accuracy based on captions generated by a vision language model (VLM). Our approach achieves state-of-the-art accuracy on two benchmarks for personalized image retrieval with natural language queries - DeepFashion2 and ConCon-Chi - outperforming the prior art by 4%-22% on personal retrievals.

Contrastive Flow Matching

Unconditional flow-matching trains diffusion models to transport samples from a source distribution to a target distribution by enforcing that the flows between sample pairs are unique. However, in conditional settings (e.g., class-conditioned models), this uniqueness is no longer guaranteed--flows from different conditions may overlap, leading to more ambiguous generations. We introduce Contrastive Flow Matching, an extension to the flow matching objective that explicitly enforces uniqueness across all conditional flows, enhancing condition separation. Our approach adds a contrastive objective that maximizes dissimilarities between predicted flows from arbitrary sample pairs. We validate Contrastive Flow Matching by conducting extensive experiments across varying model architectures on both class-conditioned (ImageNet-1k) and text-to-image (CC3M) benchmarks. Notably, we find that training models with Contrastive Flow Matching (1) improves training speed by a factor of up to 9x, (2) requires up to 5x fewer de-noising steps and (3) lowers FID by up to 8.9 compared to training the same models with flow matching. We release our code at: https://github.com/gstoica27/DeltaFM.git.

Gaze-LLE: Gaze Target Estimation via Large-Scale Learned Encoders

We address the problem of gaze target estimation, which aims to predict where a person is looking in a scene. Predicting a person's gaze target requires reasoning both about the person's appearance and the contents of the scene. Prior works have developed increasingly complex, hand-crafted pipelines for gaze target estimation that carefully fuse features from separate scene encoders, head encoders, and auxiliary models for signals like depth and pose. Motivated by the success of general-purpose feature extractors on a variety of visual tasks, we propose Gaze-LLE, a novel transformer framework that streamlines gaze target estimation by leveraging features from a frozen DINOv2 encoder. We extract a single feature representation for the scene, and apply a person-specific positional prompt to decode gaze with a lightweight module. We demonstrate state-of-the-art performance across several gaze benchmarks and provide extensive analysis to validate our design choices. Our code is available at: http://github.com/fkryan/gazelle .

Semi-Truths: A Large-Scale Dataset of AI-Augmented Images for Evaluating Robustness of AI-Generated Image detectors

Text-to-image diffusion models have impactful applications in art, design, and entertainment, yet these technologies also pose significant risks by enabling the creation and dissemination of misinformation. Although recent advancements have produced AI-generated image detectors that claim robustness against various augmentations, their true effectiveness remains uncertain. Do these detectors reliably identify images with different levels of augmentation? Are they biased toward specific scenes or data distributions? To investigate, we introduce SEMI-TRUTHS, featuring 27,600 real images, 223,400 masks, and 1,472,700 AI-augmented images that feature targeted and localized perturbations produced using diverse augmentation techniques, diffusion models, and data distributions. Each augmented image is accompanied by metadata for standardized and targeted evaluation of detector robustness. Our findings suggest that state-of-the-art detectors exhibit varying sensitivities to the types and degrees of perturbations, data distributions, and augmentation methods used, offering new insights into their performance and limitations. The code for the augmentation and evaluation pipeline is available at https://github.com/J-Kruk/SemiTruths.

EgoMimic: Scaling Imitation Learning via Egocentric Video

The scale and diversity of demonstration data required for imitation learning is a significant challenge. We present EgoMimic, a full-stack framework which scales manipulation via human embodiment data, specifically egocentric human videos paired with 3D hand tracking. EgoMimic achieves this through: (1) a system to capture human embodiment data using the ergonomic Project Aria glasses, (2) a low-cost bimanual manipulator that minimizes the kinematic gap to human data, (3) cross-domain data alignment techniques, and (4) an imitation learning architecture that co-trains on human and robot data. Compared to prior works that only extract high-level intent from human videos, our approach treats human and robot data equally as embodied demonstration data and learns a unified policy from both data sources. EgoMimic achieves significant improvement on a diverse set of long-horizon, single-arm and bimanual manipulation tasks over state-of-the-art imitation learning methods and enables generalization to entirely new scenes. Finally, we show a favorable scaling trend for EgoMimic, where adding 1 hour of additional hand data is significantly more valuable than 1 hour of additional robot data. Videos and additional information can be found at https://egomimic.github.io/

Model merging with SVD to tie the Knots

Recent model merging methods demonstrate that the parameters of fully-finetuned models specializing in distinct tasks can be combined into one model capable of solving all tasks without retraining. Yet, this success does not transfer well when merging LoRA finetuned models. We study this phenomenon and observe that the weights of LoRA finetuned models showcase a lower degree of alignment compared to their fully-finetuned counterparts. We hypothesize that improving this alignment is key to obtaining better LoRA model merges, and propose KnOTS to address this problem. KnOTS uses the SVD to jointly transform the weights of different LoRA models into an aligned space, where existing merging methods can be applied. In addition, we introduce a new benchmark that explicitly evaluates whether merged models are general models. Notably, KnOTS consistently improves LoRA merging by up to 4.3% across several vision and language benchmarks, including our new setting. We release our code at: https://github.com/gstoica27/KnOTS.