4DP-QA: Scalable QA for 4D Perception in Vision Language Models

Seokju Cho; Abhishek Badki; Hang Su; Jindong Jiang; Ziyao Zeng; Seungryong Kim; Sifei Liu; Orazio Gallo

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arXiv · 2606.11568

4DP-QA: Scalable QA for 4D Perception in Vision Language Models

Seokju Cho·Abhishek Badki·Hang Su·Jindong Jiang·Ziyao Zeng·Seungryong Kim·Sifei Liu·Orazio Gallo

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Abstract

Despite recent advances, Vision Language Models (VLMs) still struggle to grasp the dynamics of the world. We note that the ability to reason about a 4D scene, challenging in itself, is further complicated by two factors. First, VLMs observe motion indirectly via its projection onto 2D images. Second, existing datasets fail to disentangle object and camera motion. To address these challenges, we present a QA generation pipeline that focuses on motion-related scene understanding. We take particular care of the entanglement of camera and object motion by casting tracking in both the traditional way and in a novel, fixed reference system, dubbed True-Motion Tracking, which provides an intuitive description of motion. From this pipeline, we generate a large-scale training dataset of 400K samples, 4DP-QA (4D Perception QA), and a 2.2K-sample benchmark, 4DP-QA-Bench. Training existing models on our dataset yields performance improvements on an external benchmark, validating the effectiveness of our method.

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Seokju Cho, Abhishek Badki, Hang Su, Jindong Jiang, Ziyao Zeng, Seungryong Kim, Sifei Liu, Orazio Gallo. 2026-06-10. 4DP-QA: Scalable QA for 4D Perception in Vision Language Models. https://arxiv.org/abs/2606.11568

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