OmniStream: Mastering Perception, Reconstruction and Action in Continuous Streams
Organizations: School of Artificial Intelligence, SJTU · Shanghai Innovation Institute · VGG, Oxford
Abstract
Modern visual agents require representations that are general, causal, and physically structured to operate in real-time streaming environments. However, current vision foundation models remain fragmented, specializing narrowly in image semantic perception, offline temporal modeling, or spatial geometry. This paper introduces OmniStream, a unified streaming visual backbone that effectively perceives, reconstructs, and acts from diverse visual inputs. By incorporating causal spatiotemporal attention and 3D rotary positional embeddings (3D-RoPE), our model supports efficient, frame-by-frame online processing of video streams via a persistent KV-cache. We pre-train OmniStream using a synergistic multi-task framework coupling static and temporal representation learning, streaming geometric reconstruction, and vision-language alignment on 29 datasets. Extensive evaluations show that, even with a strictly frozen backbone, OmniStream achieves consistently competitive performance with specialized experts across image and video probing, streaming geometric reconstruction, complex video and spatial reasoning, as well as robotic manipulation (unseen at training). Rather than pursuing benchmark-specific dominance, our work demonstrates the viability of training a single, versatile vision backbone that generalizes across semantic, spatial, and temporal reasoning, i.e., a more meaningful step toward general-purpose visual understanding for interactive and embodied agents.
Figures & tables
| Task | Pre-training Dataset | Frames |
| Image SSL | DataComp-100M Gadre et al. (2023) , ImageNet-21K Ridnik et al. (2021) | 113M |
| Video SSL | Kinetics Carreira and Zisserman (2017) , SSv2 Goyal et al. (2017) , PE-Videos Bolya et al. (2025) | 20M |
| 3D/4D Scenes | Co3Dv2 Reizenstein et al. (2021) , WildRGBD Xia et al. (2024) , BlendedMVS Yao et al. (2020) , MegaDepth Li and Snavely (2018) , MVS-Synth Huang et al. (2018) , PointOdyssey Zheng et al. (2023) , HyperSim Roberts et al. (2021) , TartanAir Wang et al. (2020) , DL3DV Ling et al. (2024) , ScanNet Dai et al. (2017) , ScanNet++ Yeshwanth et al. (2023) , ArkitScenes Baruch et al. (2021) , Virtual Kitti 2 Cabon et al. (2020) , MapFree Arnold et al. (2022) , Dynamic Replica Karaev et al. (2023) , Spring Mehl et al. (2023) , OmniWorld-Games Zhou et al. (2025) , Aria Synthetic Environments Pan et al. (2023) , Waymo-Open Sun et al. (2020) | 18M |
| Captioning | GRIT Peng et al. (2023) ; Byeon et al. (2022) , RefCOCO Series Kazemzadeh et al. (2014) , Blip3-OCR Xue et al. (2024) , SA1B-Caption Chen et al. (2024) | 50M |
| Total | - | 200M |
| Benchmark | Ours | DINOv3-L | V-JEPA2-L | CUT3R | LLaVA-Video | OpenVLA | |
| Image | ImageNet | 84.7 | 86.7 | - | - | - | - |
| NYUv2 | 0.377 | 0.377 | - | - | - | - | |
| ADE20K | 49.1 | 51.5 | - | - | - | - | |
| Video | SSv2 | 68.5 | 54.0 | 73.7 | - | - | - |
| K400 | 85.7 | 83.6 | 85.1 | - | - | - | |
| DAVIS’17 | 71.6 | 73.2 | 44.2 | - | - | - |
| Sintel | BONN | KITTI | |||||
| Method | Param. | Abs Rel | Abs Rel | Abs Rel | |||
| Span3R Wang and Agapito (2025) | 600M | 0.622 | 42.6 | 0.144 | 81.3 | 0.198 | 73.7 |
| Cut3R Wang* et al. (2025) | 600M | 0.421 | 47.9 | 0.078 | 93.7 | 0.118 | 88.1 |
| Point3R Wu et al. (2025b) | 600M | 0.481 | 44.8 | 0.066 | 95.8 | 0.093 | 93.5 |
| Ours | 400M | 0.314 | 58.3 | 0.072 | 96.7 | 0.136 | 81.8 |
| Sintel | TUM-dynamics | ScanNet | ||||||||
| Method | Param. | ATE | RPE | RPE | ATE | RPE | RPE | ATE | RPE | RPE |
| Span3R Wang and Agapito (2025) | 600M | 0.329 | 0.110 | 4.471 | 0.056 | 0.021 | 0.591 | 0.096 | 0.023 | 0.661 |
| Cut3R Wang* et al. (2025) | 600M | 0.213 | 0.066 | 0.621 | 0.046 | 0.015 | 0.473 | 0.099 | 0.022 | 0.600 |
| Point3R Wu et al. (2025b) | 600M | 0.442 | 0.154 | 1.897 | 0.058 | 0.031 | 0.758 | 0.097 | 0.035 | 2.791 |
| Ours | 400M | 0.227 | 0.051 | 0.695 | 0.049 | 0.012 | 0.601 | 0.076 | 0.017 | 0.659 |
| Methods | Avg. | Obj. Count | Abs. Dist. | Obj. Size | Room Size | Rel. Dist | Rel. Dir. | Route Plan | Appr. Order |
| GPT-4o Hurst et al. (2024) | 34.0 | 46.2 | 5.3 | 43.8 | 38.2 | 37.0 | 41.3 | 31.5 | 28.5 |
| Gemini-1.5-Pro Team et al. (2024) | 45.4 | 56.2 | 30.9 | 64.1 | 43.6 | 51.3 | 46.3 | 36.0 | 34.6 |
| LLaVA-OneVision-7B Li et al. (2024a) | 32.4 | 47.7 | 20.2 | 47.4 | 12.3 | 42.5 | 35.2 | 29.4 | 24.4 |
| LLaVA-Video-7B Zhang et al. (2024b) | 35.6 | 48.5 | 14.0 | 47.8 | 24.2 | 43.5 | 42.4 | 34.0 | 30.6 |
| Qwen2.5-VL-7B Bai et al. (2025b) | 32.7 | 34.5 | 19.4 | 47.6 | 40.8 | 32.8 | 24.5 | 32.5 | 29.4 |
| SpaceR-7B Ouyang et al. (2025) | 43.5 | 61.9 | 28.6 | 60.9 | 35.2 | 38.2 | 46.0 | 31.4 | 45.6 |
Streaming Video Understanding
Streaming video understanding studies how AI systems interpret continuous video in real time while retaining useful history and responding at the right moment.
See all 132 papers