Apr 21, 2026 · cs.CVJ/K move · Enter open · S save
Ruibing Hou, Mingyue Zhou, Yuwei Gui, Mingshuang Luo+4
Key Laboratory of Intelligent Information Processing, Institute of Computing Technology (ICT), Chinese Academy of Sciences (CAS), Beijing, 100190, China · Jilin University (JLU), Changchun, 130012, China · Beijing University of Posts and Telecommunications (BUPT), Beijing, 100876, China · University of the Chinese Academy of Sciences, Beijing 100049, China
Faithfully modeling human behavior in dynamic environments is a foundational challenge for embodied intelligence. While conditional motion synthesis has achieved significant advances, egocentric motion generation remains largely underexplored due to the inherent complexity of first-person perception. In this work, we investigate Egocentric Vision-Language (Ego-VL) motion generation. This task requires synthesizing 3D human motion conditioned jointly on first-person visual observations and natural language instructions. We identify a critical \textit{reasoning-generation entanglement} challenge: the simultaneous optimization of semantic reasoning and kinematic modeling introduces gradient conflicts. These conflicts systematically degrade the fidelity of multimodal grounding and motion quality. To address this challenge, we propose a hierarchical generative framework \textbf{EgoMotion}. Inspired by the biological decoupling of cognitive reasoning and motor control, EgoMotion operates in two stages. In the Cognitive Reasoning stage, A vision-language model (VLM) projects multimodal inputs into a structured space of discrete motion primitives. This forces the VLM to acquire goal-consistent representations, effectively bridging the semantic gap between high-level perceptual understanding and low-level action execution. In the Motion Generation stage, these learned representations serve as expressive conditioning signals for a diffusion-based motion generator. By performing iterative denoising within a continuous latent space, the generator synthesizes physically plausible and temporally coherent trajectories. Extensive evaluations demonstrate that EgoMotion achieves state-of-the-art performance, and produces motion sequences that are both semantically grounded and kinematically superior to existing approaches.