# BootsTAP: Bootstrapped Training for Tracking-Any-Point

arXiv: https://arxiv.org/abs/2402.00847 · HTML: https://mlsanity.com/paper/2402.00847/

## Key facts

- Cited by 120 papers in the map (data through 14 Oct 2026).
- Builds on 47 of its 77 references that are in the map.
- First posted on arXiv 1 Feb 2024.

## Builds on (most cited first, 30 of 47)

- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [Quo Vadis, Action Recognition? A New Model and the Kinetics Dataset](https://mlsanity.com/paper/1705.07750/) (2017)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [FixMatch: Simplifying Semi-Supervised Learning with Consistency and Confidence](https://mlsanity.com/paper/2001.07685/) (2020)
- [Accurate, Large Minibatch SGD: Training ImageNet in 1 Hour](https://mlsanity.com/paper/1706.02677/) (2017)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Unsupervised Visual Representation Learning by Context Prediction](https://mlsanity.com/paper/1505.05192/) (2015)
- [CoTracker: It is Better to Track Together](https://mlsanity.com/paper/2307.07635/) (2023)
- [Kubric: A scalable dataset generator](https://mlsanity.com/paper/2203.03570/) (2022)
- [Perception Test: A Diagnostic Benchmark for Multimodal Video Models](https://mlsanity.com/paper/2305.13786/) (2023)
- [TAPIR: Tracking Any Point with per-frame Initialization and temporal Refinement](https://mlsanity.com/paper/2306.08637/) (2023)
- [PointOdyssey: A Large-Scale Synthetic Dataset for Long-Term Point Tracking](https://mlsanity.com/paper/2307.15055/) (2023)
- [Learning Correspondence from the Cycle-Consistency of Time](https://mlsanity.com/paper/1903.07593/) (2019)
- [TAP-Vid: A Benchmark for Tracking Any Point in a Video](https://mlsanity.com/paper/2211.03726/) (2022)
- [Space-Time Correspondence as a Contrastive Random Walk](https://mlsanity.com/paper/2006.14613/) (2020)
- [Visual Geometry Grounded Deep Structure From Motion](https://mlsanity.com/paper/2312.04563/) (2023)
- [Particle Video Revisited: Tracking Through Occlusions Using Point Trajectories](https://mlsanity.com/paper/2204.04153/) (2022)
- [Any-point Trajectory Modeling for Policy Learning](https://mlsanity.com/paper/2401.00025/) (2023)
- [UnFlow: Unsupervised Learning of Optical Flow with a Bidirectional Census Loss](https://mlsanity.com/paper/1711.07837/) (2017)
- [Multi-task Self-Supervised Visual Learning](https://mlsanity.com/paper/1708.07860/) (2017)
- [Tracking Everything Everywhere All at Once](https://mlsanity.com/paper/2306.05422/) (2023)
- [COTR: Correspondence Transformer for Matching Across Images](https://mlsanity.com/paper/2103.14167/) (2021)
- [Tracking Emerges by Colorizing Videos](https://mlsanity.com/paper/1806.09594/) (2018)
- [SelFlow: Self-Supervised Learning of Optical Flow](https://mlsanity.com/paper/1904.09117/) (2019)
- [Learning by Analogy: Reliable Supervision from Transformations for Unsupervised Optical Flow Estimation](https://mlsanity.com/paper/2003.13045/) (2020)
- [MAST: A Memory-Augmented Self-supervised Tracker](https://mlsanity.com/paper/2002.07793/) (2020)
- [Back to Basics: Unsupervised Learning of Optical Flow via Brightness Constancy and Motion Smoothness](https://mlsanity.com/paper/1608.05842/) (2016)
- [Occlusion Aware Unsupervised Learning of Optical Flow](https://mlsanity.com/paper/1711.05890/) (2017)
- [RoboTAP: Tracking Arbitrary Points for Few-Shot Visual Imitation](https://mlsanity.com/paper/2308.15975/) (2023)
- [General Flow as Foundation Affordance for Scalable Robot Learning](https://mlsanity.com/paper/2401.11439/) (2024)

## Built on by (most cited first, 30 of 120)

- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation](https://mlsanity.com/paper/2409.01652/) (2024)
- [Shape of Motion: 4D Reconstruction from a Single Video](https://mlsanity.com/paper/2407.13764/) (2024)
- [MoSca: Dynamic Gaussian Fusion from Casual Videos via 4D Motion Scaffolds](https://mlsanity.com/paper/2405.17421/) (2024)
- [Motion Prompting: Controlling Video Generation with Motion Trajectories](https://mlsanity.com/paper/2412.02700/) (2024)
- [Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulation](https://mlsanity.com/paper/2409.16283/) (2024)
- [CoTracker3: Simpler and Better Point Tracking by Pseudo-Labelling Real Videos](https://mlsanity.com/paper/2410.11831/) (2024)
- [Stereo4D: Learning How Things Move in 3D from Internet Stereo Videos](https://mlsanity.com/paper/2412.09621/) (2024)
- [SpatialTrackerV2: 3D Point Tracking Made Easy](https://mlsanity.com/paper/2507.12462/) (2025)
- [PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation](https://mlsanity.com/paper/2601.03782/) (2026)
- [TAPVid-3D: A Benchmark for Tracking Any Point in 3D](https://mlsanity.com/paper/2407.05921/) (2024)
- [DELTA: Dense Efficient Long-range 3D Tracking for any video](https://mlsanity.com/paper/2410.24211/) (2024)
- [AllTracker: Efficient Dense Point Tracking at High Resolution](https://mlsanity.com/paper/2506.07310/) (2025)
- [TAPTR: Tracking Any Point with Transformers as Detection](https://mlsanity.com/paper/2403.13042/) (2024)
- [Track4Gen: Teaching Video Diffusion Models to Track Points Improves Video Generation](https://mlsanity.com/paper/2412.06016/) (2024)
- [GS-DiT: Advancing Video Generation with Pseudo 4D Gaussian Fields through Efficient Dense 3D Point Tracking](https://mlsanity.com/paper/2501.02690/) (2025)
- [Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrations](https://mlsanity.com/paper/2507.00990/) (2025)
- [TAPNext: Tracking Any Point (TAP) as Next Token Prediction](https://mlsanity.com/paper/2504.05579/) (2025)
- [Segment Any Motion in Videos](https://mlsanity.com/paper/2503.22268/) (2025)
- [MoVieS: Motion-Aware 4D Dynamic View Synthesis in One Second](https://mlsanity.com/paper/2507.10065/) (2025)
- [Scaling 4D Representations](https://mlsanity.com/paper/2412.15212/) (2024)
- [Dynamic Camera Poses and Where to Find Them](https://mlsanity.com/paper/2504.17788/) (2025)
- [BARD-GS: Blur-Aware Reconstruction of Dynamic Scenes via Gaussian Splatting](https://mlsanity.com/paper/2503.15835/) (2025)
- [Articulated Object Estimation in the Wild](https://mlsanity.com/paper/2509.01708/) (2025)
- [TAPTRv2: Attention-based Position Update Improves Tracking Any Point](https://mlsanity.com/paper/2407.16291/) (2024)
- [Multi-View 3D Point Tracking](https://mlsanity.com/paper/2508.21060/) (2025)
- [Exploring Temporally-Aware Features for Point Tracking](https://mlsanity.com/paper/2501.12218/) (2025)
- [Learning segmentation from point trajectories](https://mlsanity.com/paper/2501.12392/) (2025)
- [Can Visual Foundation Models Achieve Long-term Point Tracking?](https://mlsanity.com/paper/2408.13575/) (2024)
- [CoWTracker: Tracking by Warping instead of Correlation](https://mlsanity.com/paper/2602.04877/) (2026)

## Abstract (arXiv)

To endow models with greater understanding of physics and motion, it is useful to enable them to perceive how solid surfaces move and deform in real scenes. This can be formalized as Tracking-Any-Point (TAP), which requires the algorithm to track any point on solid surfaces in a video, potentially densely in space and time. Large-scale groundtruth training data for TAP is only available in simulation, which currently has a limited variety of objects and motion. In this work, we demonstrate how large-scale, unlabeled, uncurated real-world data can improve a TAP model with minimal architectural changes, using a selfsupervised student-teacher setup. We demonstrate state-of-the-art performance on the TAP-Vid benchmark surpassing previous results by a wide margin: for example, TAP-Vid-DAVIS performance improves from 61.3% to 67.4%, and TAP-Vid-Kinetics from 57.2% to 62.5%. For visualizations, see our project webpage at https://bootstap.github.io/