# Analogical Trajectory Transfer

arXiv: https://arxiv.org/abs/2605.14393 · HTML: https://mlsanity.com/paper/2605.14393/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 47 of its 63 references that are in the map.
- First posted on arXiv 14 May 2026.

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

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Planning with Diffusion for Flexible Behavior Synthesis](https://mlsanity.com/paper/2205.09991/) (2022)
- [SpatialVLM: Endowing Vision-Language Models with Spatial Reasoning Capabilities](https://mlsanity.com/paper/2401.12168/) (2024)
- [OpenScene: 3D Scene Understanding with Open Vocabularies](https://mlsanity.com/paper/2211.15654/) (2022)
- [PointContrast: Unsupervised Pre-training for 3D Point Cloud Understanding](https://mlsanity.com/paper/2007.10985/) (2020)
- [ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data](https://mlsanity.com/paper/2111.08897/) (2021)
- [3D-FRONT: 3D Furnished Rooms with layOuts and semaNTics](https://mlsanity.com/paper/2011.09127/) (2020)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [Learning to Explore using Active Neural SLAM](https://mlsanity.com/paper/2004.05155/) (2020)
- [Vector Neurons: A General Framework for SO(3)-Equivariant Networks](https://mlsanity.com/paper/2104.12229/) (2021)
- [Mask3D: Mask Transformer for 3D Semantic Instance Segmentation](https://mlsanity.com/paper/2210.03105/) (2022)
- [SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning](https://mlsanity.com/paper/2307.06135/) (2023)
- [OpenMask3D: Open-Vocabulary 3D Instance Segmentation](https://mlsanity.com/paper/2306.13631/) (2023)
- [3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera](https://mlsanity.com/paper/1910.02527/) (2019)
- [CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory](https://mlsanity.com/paper/2210.05663/) (2022)
- [SceneGraphFusion: Incremental 3D Scene Graph Prediction from RGB-D Sequences](https://mlsanity.com/paper/2103.14898/) (2021)
- [SAM3D: Segment Anything in 3D Scenes](https://mlsanity.com/paper/2306.03908/) (2023)
- [Scaling Up Dynamic Human-Scene Interaction Modeling](https://mlsanity.com/paper/2403.08629/) (2024)
- [Map-free Visual Relocalization: Metric Pose Relative to a Single Image](https://mlsanity.com/paper/2210.05494/) (2022)
- [Affordance Diffusion: Synthesizing Hand-Object Interactions](https://mlsanity.com/paper/2303.12538/) (2023)
- [Sonata: Self-Supervised Learning of Reliable Point Representations](https://mlsanity.com/paper/2503.16429/) (2025)
- [3D AffordanceNet: A Benchmark for Visual Object Affordance Understanding](https://mlsanity.com/paper/2103.16397/) (2021)
- [PARTFIELD: Learning 3D Feature Fields for Part Segmentation and Beyond](https://mlsanity.com/paper/2504.11451/) (2025)
- [GOAT: GO to Any Thing](https://mlsanity.com/paper/2311.06430/) (2023)
- [Clio: Real-time Task-Driven Open-Set 3D Scene Graphs](https://mlsanity.com/paper/2404.13696/) (2024)
- [Open3DSG: Open-Vocabulary 3D Scene Graphs from Point Clouds with Queryable Objects and Open-Set Relationships](https://mlsanity.com/paper/2402.12259/) (2024)
- [Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields](https://mlsanity.com/paper/2209.09050/) (2022)
- [LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning](https://mlsanity.com/paper/2403.11552/) (2024)

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

- [Scene Retargeting: Learning Object Placement with Analogical Transfer](https://mlsanity.com/paper/2609.36801/) (2026)

## Abstract (arXiv)

We study analogical trajectory transfer, where the goal is to translate motion trajectories in one 3D environment to a semantically analogous location in another. Such a capacity would enable machines to perform analogical spatial reasoning, with applications in AR/VR co-presence, content creation, and robotics. However, even semantically similar scenes can still differ substantially in object placement, scale, and layout, so naively matching semantics leads to collisions or geometric distortions. Furthermore, finding where each trajectory point should transfer to has a large search space, as the mapping must preserve semantics and functionality without tearing the trajectory apart or causing collisions. Our key insight is to decompose the problem into spatially segregated subproblems and merge their solutions to produce semantically consistent and spatially coherent transfers. Specifically, we partition scenes into object-centric clusters and estimate cross-scene mappings via hierarchical smooth map prediction, using 3D foundation model features that encode contextual information from object and open-space arrangements. We then combinatorially assemble the per-cluster maps into an initial transfer and refine the result to remove collisions and distortions, yielding a spatially coherent trajectory. Our method does not require training, attains a fast runtime around 0.6 seconds, and outperforms baselines based on LLMs, VLMs, and scene graph matching. We further showcase applications in virtual co-presence, multi-trajectory transfer, camera transfer, and human-to-robot motion transfer, which indicates the broad applicability of our work to AR/VR and robotics.