# InfiniteVGGT: Visual Geometry Grounded Transformer for Endless Streams

arXiv: https://arxiv.org/abs/2601.02281 · HTML: https://mlsanity.com/paper/2601.02281/

## Key facts

- Cited by 56 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 45 references that are in the map.
- First posted on arXiv 5 Jan 2026.

## Builds on (most cited first, 29 of 29)

- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [FlashAttention: Fast and Memory-Efficient Exact Attention with IO-Awareness](https://mlsanity.com/paper/2205.14135/) (2022)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [Continuous 3D Perception Model with Persistent State](https://mlsanity.com/paper/2501.12387/) (2025)
- [Cascade Cost Volume for High-Resolution Multi-View Stereo and Stereo Matching](https://mlsanity.com/paper/1912.06378/) (2019)
- [Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Pass](https://mlsanity.com/paper/2501.13928/) (2025)
- [Neural RGB-D Surface Reconstruction](https://mlsanity.com/paper/2104.04532/) (2021)
- [3D Reconstruction with Spatial Memory](https://mlsanity.com/paper/2408.16061/) (2024)
- [ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals](https://mlsanity.com/paper/1905.02082/) (2019)
- [MoSca: Dynamic Gaussian Fusion from Casual Videos via 4D Motion Scaffolds](https://mlsanity.com/paper/2405.17421/) (2024)
- [GPS-Gaussian: Generalizable Pixel-wise 3D Gaussian Splatting for Real-time Human Novel View Synthesis](https://mlsanity.com/paper/2312.02155/) (2023)
- [Streaming 4D Visual Geometry Transformer](https://mlsanity.com/paper/2507.11539/) (2025)
- [TTT3R: 3D Reconstruction as Test-Time Training](https://mlsanity.com/paper/2509.26645/) (2025)
- [VGGT-Long: Chunk it, Loop it, Align it -- Pushing VGGT's Limits on Kilometer-scale Long RGB Sequences](https://mlsanity.com/paper/2507.16443/) (2025)
- [FastVGGT: Training-Free Acceleration of Visual Geometry Transformer](https://mlsanity.com/paper/2509.02560/) (2025)
- [EfficientVLA: Training-Free Acceleration and Compression for Vision-Language-Action Models](https://mlsanity.com/paper/2506.10100/) (2025)
- [Point3R: Streaming 3D Reconstruction with Explicit Spatial Pointer Memory](https://mlsanity.com/paper/2507.02863/) (2025)
- [STream3R: Scalable Sequential 3D Reconstruction with Causal Transformer](https://mlsanity.com/paper/2508.10893/) (2025)
- [EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understanding](https://mlsanity.com/paper/2412.04380/) (2024)
- [WinT3R: Window-Based Streaming Reconstruction with Camera Token Pool](https://mlsanity.com/paper/2509.05296/) (2025)
- [Robust Incremental Structure-from-Motion with Hybrid Features](https://mlsanity.com/paper/2409.19811/) (2024)
- [SAIL-Recon: Large SfM by Augmenting Scene Regression with Localization](https://mlsanity.com/paper/2508.17972/) (2025)
- [4DTAM: Non-Rigid Tracking and Mapping via Dynamic Surface Gaussians](https://mlsanity.com/paper/2505.22859/) (2025)

## Built on by (most cited first, 30 of 56)

- [LoGeR: Long-Context Geometric Reconstruction with Hybrid Memory](https://mlsanity.com/paper/2603.03269/) (2026)
- [LingBot-Map: Geometric Context Transformer for Streaming 3D Reconstruction](https://mlsanity.com/paper/2604.14141/) (2026)
- [HorizonStream: Long-Horizon Attention for Streaming 3D Reconstruction](https://mlsanity.com/paper/2605.23889/) (2026)
- [MeMix: Writing Less, Remembering More for Streaming 3D Reconstruction](https://mlsanity.com/paper/2603.15330/) (2026)
- [Mem3R: Streaming 3D Reconstruction with Hybrid Memory via Test-Time Training](https://mlsanity.com/paper/2604.07279/) (2026)
- [Feed-Forward 3D Scene Modeling: A Problem-Driven Perspective](https://mlsanity.com/paper/2604.14025/) (2026)
- [StreamCacheVGGT: Streaming Visual Geometry Transformers with Robust Scoring and Hybrid Cache Compression](https://mlsanity.com/paper/2604.15237/) (2026)
- [GeoStream: Toward Precise Camera Controlled Streaming Video Generation](https://mlsanity.com/paper/2606.15162/) (2026)
- [Keyframe-Based Feed-Forward Visual Odometry](https://mlsanity.com/paper/2601.16020/) (2026)
- [PROSPECT: Unified Streaming Vision-Language Navigation via Semantic--Spatial Fusion and Latent Predictive Representation](https://mlsanity.com/paper/2603.03739/) (2026)
- [FrameVGGT: Coherence-Preserving Memory for Bounded Streaming Geometry](https://mlsanity.com/paper/2603.07690/) (2026)
- [GAP-MLLM: Geometry-Aligned Pre-training for Activating 3D Spatial Perception in Multimodal Large Language Models](https://mlsanity.com/paper/2603.16461/) (2026)
- [FILT3R: Latent State Adaptive Kalman Filter for Streaming 3D Reconstruction](https://mlsanity.com/paper/2603.18493/) (2026)
- [OpenWorldLib: A Unified Codebase and Definition of Advanced World Models](https://mlsanity.com/paper/2604.04707/) (2026)
- [Attention Itself Could Retrieve.RetrieveVGGT: Training-Free Long Context Streaming 3D Reconstruction via Query-Key Similarity Retrieval](https://mlsanity.com/paper/2605.09644/) (2026)
- [Mamba-VGGT: Persistent Long-Sequence Video Geometry Grounded Transformer via External Sliding Window Mamba Memory](https://mlsanity.com/paper/2605.17478/) (2026)
- [UniScale: Unified Scale-Aware 3D Reconstruction for Multi-View Understanding via Prior Injection for Robotic Perception](https://mlsanity.com/paper/2602.23224/) (2026)
- [PAS3R: Pose-Adaptive Streaming 3D Reconstruction for Long Video Sequences](https://mlsanity.com/paper/2603.21436/) (2026)
- [AnyImageNav: Any-View Geometry for Precise Last-Meter Image-Goal Navigation](https://mlsanity.com/paper/2604.05351/) (2026)
- [GHOST: Geometry-Hierarchical Online Streaming Token Eviction for Efficient 3D Reconstruction](https://mlsanity.com/paper/2605.15852/) (2026)
- [R3: 3D Reconstruction via Relative Regression](https://mlsanity.com/paper/2605.26519/) (2026)
- [Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping](https://mlsanity.com/paper/2606.05035/) (2026)
- [GeoWorldAD: Geometry World Action Model for Autonomous Driving](https://mlsanity.com/paper/2607.17521/) (2026)
- [Geometry-Grounded Unified 3D Perception for Autonomous Driving](https://mlsanity.com/paper/2608.13147/) (2026)
- [MINT: A Unified Model for World-Space Camera and Hand Motion Estimation from Scalable Egocentric Pipeline Supervision](https://mlsanity.com/paper/2609.04958/) (2026)
- [GPA-VGGT:Adapting VGGT to Large Scale Localization by Self-Supervised Learning with Geometry and Physics Aware Loss](https://mlsanity.com/paper/2601.16885/) (2026)
- [OVGGT: O(1) Constant-Cost Streaming Visual Geometry Transformer](https://mlsanity.com/paper/2603.05959/) (2026)
- [SS3D: End2End Self-Supervised 3D from Web Videos](https://mlsanity.com/paper/2604.22686/) (2026)
- [Ray-Aware Pointer Memory with Adaptive Updates for Streaming 3D Reconstruction](https://mlsanity.com/paper/2605.05749/) (2026)
- [Spark3R: Asymmetric Token Reduction Makes Fast Feed-Forward 3D Reconstruction](https://mlsanity.com/paper/2605.06270/) (2026)

## Abstract (arXiv)

The grand vision of enabling persistent, large-scale 3D visual geometry understanding is shackled by the irreconcilable demands of scalability and long-term stability. While offline models like VGGT achieve inspiring geometry capability, their batch-based nature renders them irrelevant for live systems. Streaming architectures, though the intended solution for live operation, have proven inadequate. Existing methods either fail to support truly infinite-horizon inputs or suffer from catastrophic drift over long sequences. We shatter this long-standing dilemma with InfiniteVGGT, a causal visual geometry transformer that operationalizes the concept of a rolling memory through a bounded yet adaptive and perpetually expressive KV cache. Capitalizing on this, we devise a training-free, attention-agnostic pruning strategy that intelligently discards obsolete information, effectively ``rolling'' the memory forward with each new frame. Fully compatible with FlashAttention, InfiniteVGGT finally alleviates the compromise, enabling infinite-horizon streaming while outperforming existing streaming methods in long-term stability. The ultimate test for such a system is its performance over a truly infinite horizon, a capability that has been impossible to rigorously validate due to the lack of extremely long-term, continuous benchmarks. To address this critical gap, we introduce the Long3D benchmark, which, for the first time, enables a rigorous evaluation of continuous 3D geometry estimation on sequences about 10,000 frames. This provides the definitive evaluation platform for future research in long-term 3D geometry understanding. Code is available at: https://github.com/AutoLab-SAI-SJTU/InfiniteVGGT