LIME: Learning Intent-aware Camera Motion from Egocentric Video

Autonomous robots often need to move their camera before they can act: to inspect an object, reveal an occluded region, or obtain a view that responds to a user's intent. While vision-language navigation translates instructions to base motion and vision-language-action policies map instructions to manipulation actions, vision-language conditioned camera motion remains comparatively underexplored as a first-class action. We formulate vision-language conditioned camera motion generation: given a current RGB observation and a free-form natural-language intent, predict a relative target camera pose for the next observation. The challenge is that useful viewpoint changes depend on latent perce...

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