Spatially Prompted Visual Trajectory Prediction for Egocentric Manipulation

Yifan Li; Xinyu Zhou; Yunhao Ge; Xiaobo Tan; Yu Kong

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arXiv · 2605.20085

Spatially Prompted Visual Trajectory Prediction for Egocentric Manipulation

Yifan Li·Xinyu Zhou·Yunhao Ge·Xiaobo Tan·Yu Kong

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Abstract

Language instructions offer a flexible way to specify task semantics but can become ambiguous in cluttered scenes containing multiple visually similar objects and candidate targets. We study Spatially Prompted Visual Trajectory Prediction (SP-VTP), an open-loop setting in which points or bounding boxes in the first egocentric frame specify an object--target pair and condition the prediction of future 3D end-effector (EE) trajectory chunks. To support this setting, we introduce EgoSPT, a controlled dataset comprising 2,841 egocentric fork pick-and-place episodes with first-frame object and target annotations and reconstructed 3D EE trajectories. SP-VTP evaluates whether a static task specification remains informative as the viewpoint and scene configuration evolve throughout execution. We also introduce SPOT, a spatially prompted object--target trajectory predictor that integrates first-frame visual and coordinate prompts with current visual observations and motion history to generate future trajectories. Rather than relying on an explicit object tracker, SPOT maintains a fixed representation of the first-frame task specification. Across three training seeds, spatial prompting consistently reduces translation and endpoint errors relative to a no-prompt baseline, while controlled prompt interventions reveal distinct roles for object and target cues at different stages of execution. Together, EgoSPT and SPOT provide a dataset and baseline for spatially conditioned egocentric trajectory prediction in open-loop pick-and-place settings.

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Yifan Li, Xinyu Zhou, Yunhao Ge, Xiaobo Tan, Yu Kong. 2026-09-07. Spatially Prompted Visual Trajectory Prediction for Egocentric Manipulation. https://arxiv.org/abs/2605.20085

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