# Learning Long-term Motion Embeddings for Efficient Kinematics Generation

arXiv: https://arxiv.org/abs/2604.11737 · HTML: https://mlsanity.com/paper/2604.11737/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 46 of its 54 references that are in the map.
- First posted on arXiv 13 Apr 2026.

## Builds on (most cited first, 30 of 46)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [RoFormer: Enhanced Transformer with Rotary Position Embedding](https://mlsanity.com/paper/2104.09864/) (2021)
- [Wan: Open and Advanced Large-Scale Video Generative Models](https://mlsanity.com/paper/2503.20314/) (2025)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [CogVideoX: Text-to-Video Diffusion Models with An Expert Transformer](https://mlsanity.com/paper/2408.06072/) (2024)
- [Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains](https://mlsanity.com/paper/2006.10739/) (2020)
- [GLU Variants Improve Transformer](https://mlsanity.com/paper/2002.05202/) (2020)
- [Root Mean Square Layer Normalization](https://mlsanity.com/paper/1910.07467/) (2019)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [The "something something" video database for learning and evaluating visual common sense](https://mlsanity.com/paper/1706.04261/) (2017)
- [The 2017 DAVIS Challenge on Video Object Segmentation](https://mlsanity.com/paper/1704.00675/) (2017)
- [MiniCPM: Unveiling the Potential of Small Language Models with Scalable Training Strategies](https://mlsanity.com/paper/2404.06395/) (2024)
- [LTX-Video: Realtime Video Latent Diffusion](https://mlsanity.com/paper/2501.00103/) (2024)
- [DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning](https://mlsanity.com/paper/2411.04983/) (2024)
- [TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies](https://mlsanity.com/paper/2412.10345/) (2024)
- [DragDiffusion: Harnessing Diffusion Models for Interactive Point-based Image Editing](https://mlsanity.com/paper/2306.14435/) (2023)
- [Any-point Trajectory Modeling for Policy Learning](https://mlsanity.com/paper/2401.00025/) (2023)
- [DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge](https://mlsanity.com/paper/2507.04447/) (2025)
- [Motion-I2V: Consistent and Controllable Image-to-Video Generation with Explicit Motion Modeling](https://mlsanity.com/paper/2401.15977/) (2024)
- [MolmoAct: Action Reasoning Models that can Reason in Space](https://mlsanity.com/paper/2508.07917/) (2025)
- [Motion Prompting: Controlling Video Generation with Motion Trajectories](https://mlsanity.com/paper/2412.02700/) (2024)
- [Do generative video models understand physical principles?](https://mlsanity.com/paper/2501.09038/) (2025)
- [DragAnything: Motion Control for Anything using Entity Representation](https://mlsanity.com/paper/2403.07420/) (2024)
- [Koala-36M: A Large-scale Video Dataset Improving Consistency between Fine-grained Conditions and Video Content](https://mlsanity.com/paper/2410.08260/) (2024)
- [Track2Act: Predicting Point Tracks from Internet Videos enables Generalizable Robot Manipulation](https://mlsanity.com/paper/2405.01527/) (2024)

## Built on by (most cited first, 1 of 1)

- [Schr"odinger's Cat: Probabilistic Representation and Prediction of Potential Scene Kinematics](https://mlsanity.com/paper/2607.25984/) (2026)

## Abstract (arXiv)

Understanding and predicting motion is a fundamental component of visual intelligence. Although modern video models exhibit strong comprehension of scene dynamics, exploring multiple possible futures through full video synthesis remains prohibitively inefficient. We model scene dynamics orders of magnitude more efficiently by directly operating on a long-term motion embedding that is learned from large-scale trajectories obtained from tracker models. This enables efficient generation of long, realistic motions that fulfill goals specified via text prompts or spatial pokes. To achieve this, we first learn a highly compressed motion embedding with a temporal compression factor of 64x. In this space, we train a conditional flow-matching model to generate motion latents conditioned on task descriptions. The resulting motion distributions outperform those of both state-of-the-art video models and specialized task-specific approaches.