#01Jul 23, 2026
cs.CV
Self-Supervised Learning of Structured Dynamics from Videos
Lukas Knobel, Andrew Zisserman, Yuki M. Asano
Understanding motion in video is a fundamental challenge for visual learning, as frame-to-frame change entangles two sources of dynamics: camera motion and object motion. This decomposition has remained underexplored in representation learning, partly because these factors are tightly coupled in natural videos and difficult to supervise separately. Yet recovering it is important for learning robust motion representations that separate meaningful object dynamics from camera-induced variation. We study whether such structured motion representations can be recovered from frozen features of a pretrained image vision transformer. We propose the Structured Dynamics Model (SDM), which explicitly separates the dominant source of temporal change from residual dynamics through future-feature prediction, rather than representing video change with a single entangled latent or with unstructured, spatially dense transition tokens. Training combines self-supervised learning on real video with weak supervision of scene dynamics on synthetic Kubric data. We evaluate SDM on ProbeMotion, a new evaluation suite spanning synthetic and real videos with camera motion, object motion, and combined dynamics. SDM outperforms backbone baselines using global CLS or average-pooled features, and compares favorably to strongly supervised representations such as VGGT on several probes, despite using substantially weaker supervision. These results suggest that pretrained image models can be readily repurposed into structured video-dynamics representations, providing a useful inductive bias for learning and analyzing latent video dynamics.
#02Jul 23, 2026
math.ST
Optimal use of a black-box learner in semiparametric estimation
Yihong Gu
Consider the partial linear model $Y = μ_0(X) + β_0 \cdot T + \varepsilon$ and $T = π_0(X) + u$ in the structure-agnostic setting, where we are blind to the structure $μ_0$ and $π_0$ and estimate the nuisances by a black-box hypothesis class. The learnability of the class is characterized by the estimation error $δ_s$ in the absence of model misspecification and its $L_2$ mis-specification error $δ_{a, μ}$ and $δ_{a, π}$ for $μ_0$ and $π_0$, respectively. We propose a novel estimator of the target linear coefficient $θ_0 = β_0$ with error rate \[ \frac{1}{\sqrt{n}} + δ_{a, μ} \cdot δ_{a, π} + [δ_s]^2. \] A matching lower bound is also established, implying that this rate is unimprovable. Compared with the product rate yielded by double machine learning (DML), our estimator removes the suboptimal term $\max(δ_{a, μ}, δ_{a, π})\cdot δ_s$ at no extra cost or assumption. Building on the underlying insights, which are neither tailored to the one-learner setting nor the partial linear model, we propose Transductive Adversarial Moment-calibrated Editing (TAME), which locally edits debiasing weights induced by black-box regression estimates on the inference sample through adversarial conditional moment calibration. TAME can be combined with any initial black-box estimates and can strictly improve on DML guarantees when the nuisance difficulties are imbalanced. We discuss how to fully exploit the advantages introduced by TAME, including the gains from using two learners, the resulting under-smoothing principle for model selection, and extensions to other linear functional estimation problems.
#03Jul 23, 2026
cs.CV
Unified Video Dense Prediction from Disjoint Data
Yihong Sun, Seoung Wug Oh, Jiahui Huang and 2 more
Scene understanding requires simultaneous prediction about geometry, appearance, and semantics. However, existing task-specific annotations are fragmented across incompatible, domain-specific datasets. Current unified systems circumvent this by restricting training to fully co-annotated data, or by incurring the large computational cost of pseudo-labeling. To mitigate this, we introduce UniD, a unified video model that jointly predicts eight dense scene properties-depth, surface normals, semantic segmentation, boundaries, human parts, albedo, shading, and materials-all learned from disjoint, domain-specific datasets. We propose a simple yet effective distillation step in which per-task experts supervise a unified backbone through lightweight task projectors, eliminating the need for annotation overlap or pseudo-labeling. Our key insight is that the strong visual priors of a pretrained diffusion model are sufficient to bridge the domain gaps introduced by disjoint training sources, enabling robust generalization to scene-task combinations never seen during training. UniD achieves competitive performance against per-task specialists and multi-task baselines, with strong generalization to out-of-distribution scenarios and enhanced temporal and cross-task consistency. Code and video results are available at https://unid-video.github.io/.
#04Jul 23, 2026
cs.LG
Graph Learning on Ensembles of Cyclic Peptides: An Investigation of Molecular Ensemble Modeling
Aaron Feller, Kris Deibler, Maxim Secor
Molecular property prediction from structure often uses a single representative conformation, even though many molecules exist as conformational ensembles in solution. We introduce EnsembleEGNN, a molecular ensemble foundation model that encodes an ensemble by first encoding each conformer with shared Equivariant Graph Neural Network (EGNN) layers, then pooling the resulting conformer representations with a Set Attention Block. We pretrain the model on CREMP, a cyclic peptide ensemble dataset, using a multi-task self-supervised objective combining masked token recovery, noisy-coordinate reconstruction, and pairwise distance reconstruction. On the CREMP-CycPeptMPDB dataset, training EnsembleEGNN from scratch fails entirely ($R^2=0.005$). However, the pretrained model reaches $R^2=0.477$ and Pearson $r=0.699$, outperforming the sequence-only BERT baseline ($R^2=0.439$, Pearson $r=0.667$). When EnsembleEGNN is co-trained end-to-end with the BERT sequence encoder, the hybrid model improves further to $R^2=0.538$ and Pearson $r=0.737$. These results demonstrate that encoding conformational ensembles into a single thermodynamically informed embedding improves cyclic-peptide property prediction.
#05Jul 23, 2026
cs.RO
Scale Up Strategically: Learning Compositional Generalization via Bias-Aware Evaluation and Data Collection for Robotic Manipulation
Yu Qi, Zhang Ye, Xinyi Xu and 6 more
Compositional generalization is essential for robot to follow diverse instructions. However, pretrained policies are known to take shortcuts, deferring to salient cues rather than grounding language. We introduce a diagnostic framework that localizes this failure to individual \textit{instruction factors}, \textit{e.g.,} reusable semantic components such as color, verb, object, size, and spatial attribute. Our framework formalizes instruction factor bias, the tendency of fine-tuned policies to over-rely on dominant factors as shortcuts, and quantifies it through two metrics: Factor Dominance Rate (FDR), capturing pairwise bias between factors, and Factor Dominance Hierarchy (FDH), aggregating these into a global ranking. Evaluation on six foundation policies reveals broadly consistent ordering, \textit{i.e.}, color $\geq$ object $\geq$ spatial $\geq$ verb $\geq$ size, with color dominant, and verb and size most under-grounded. We further show the diagnosis is actionable: a bias-aware data collection strategy that reallocates a fixed budget toward under-grounded factors outperforms baselines in simulation and on a real robot using half the demonstrations, thereby enabling more sample-efficient and generalizable policy learning.