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BinoGen: Scaling egocentric binocular data for embodied visual perception and learning

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Embodied visual perception relies on temporally coherent visual experience accumulated through continuous engagement with the environment. However, collecting large-scale egocentric binocular observations together with dense annotations remains costly and difficult. Moreover, visual experience is shaped not only by the environment but also by the embodiment of the observer, including viewing height, field of view, binocular geometry, and motion through the scene. To address these challenges, we present BinoGen, an automated framework for generating large-scale, embodiment-aware egocentric bino

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