EgoMotion: Hierarchical Reasoning and Diffusion for Egocentric Vision-Language Motion Generation

Faithfully modeling human behavior in dynamic environments is a foundational challenge for embodied intelligence. While conditional motion synthesis has achieved significant advances, egocentric motion generation remains largely underexplored due to the inherent complexity of first-person perception.

In this work, we investigate Egocentric Vision-Language (Ego-VL) motion generation. This task requires synthesizing 3D human motion conditioned jointly on first-person visual observations and natural language instructions.

We identify a critical reasoning-generation entanglement challenge: the simultaneous optimization of semantic reasoning and kinematic modeling introduces gradient conflicts. These conflicts systematically degrade the fidelity of multimodal grounding and motion quality.

To address this challenge, we propose a hierarchical generative framework EgoMotion. Inspired by the biological decoupling of cognitive reasoning and motor control, EgoMotion operates in two stages.

In the Cognitive Reasoning stage, A vision-language model (VLM) projects multimodal inputs into a structured space of discrete motion primitives. This forces the VLM to acquire goal-consistent representations, effectively bridging the semantic gap between high-level perceptual understanding and low-level action execution.

In the Motion Generation stage, these learned representations serve as expressive conditioning signals for a diffusion-based motion generator. By performing iterative denoising within a continuous latent space, the generator synthesizes physically plausible and temporally coherent trajectories.

Extensive evaluations demonstrate that EgoMotion achieves state-of-the-art performance, and produces motion sequences that are both semantically grounded and kinematically superior to existing approaches.