Flow Poke Transformer & MYRIAD

Envisioning the Future, One Step at a Time

Stefan A. Baumann^*,1,2 · Jannik Wiese^*,1,2 · Tommaso Martorella^1,2 · Mahdi M. Kalayeh³ · Björn Ommer^1,2

^1,2CompVis @ LMU Munich, MCML, ³Netflix
CVPR 2026

From a single image MYRIAD predicts distributions over sparse point trajectories autoregressively. This allows us to predict physically consistent futures in open-set environments (top) conditioned on input movements. By exploring directly in motion space, we can rapidly explore thousands of counterfactual futures, enabling planning by search - here to select a billiard shot (bottom).

What If: Understanding Motion Through Sparse Interactions

Stefan A. Baumann^* · Nick Stracke^* · Timy Phan^* · Björn Ommer

CompVis @ LMU Munich, MCML
ICCV 2025

Flow Poke Transformer (FPT) directly models the uncertainty of the world by predicting distributions of how objects (×) may move conditioned on some input movements (pokes, →). We see that whether the hand (below paw) or the paw (above hand) moves downwards directly influences the other's movement. Left: the paw pushing the hand down, will force the hand downwards, resulting in a unimodal distribution. Right: the hand moving down results in two modes, the paw following along or staying put.

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This codebase containts a minimal PyTorch implementation of both papers covering training & various inference settings.

🚀 Usage

The easiest way to try FPT is via our interactive demo, which you can launch as:

python -m scripts.demo.app --compile True --warmup_compiled_paths True

Compilation is optional, but recommended for a better time using the UI. A checkpoint will be downloaded from huggingface by default if not explicitly specified via the CLI.

When using our models yourself, the simplest way to use it is via torch.hub:

fpt = torch.hub.load("CompVis/flow_poke_transformer", "fpt_base")

myriad_openset = torch.hub.load("CompVis/myriad", "myriad_openset")

myriad_billiard = torch.hub.load("CompVis/myriad", "myriad_billiard")

If you want to completely integrate FPT into your own codebase, copy model.py and dinov2.py from flow_poke/ to your codebase and you should effectively be good to go. Then instantiate the model as

model: FlowPokeTransformer = FlowPokeTransformer_Base()
state_dict = torch.load("fpt_base.pt")
model.load_state_dict(state_dict)
model.requires_grad_(False)
model.eval()

The FlowPokeTransformer class contains all the methods that you should need to use FPT in various applications. For high-level usage, use the FlowPokeTransformer.predict_*() methods. For low-level usage, the module's forward() can be used.

Similarly, you can copy model.py and dinov3.py from myriad/ to your codebase and instantiate the model as

model: MyriadStepByStep = MyriadStepByStep_Large()
state_dict = torch.load("myriad_openset.pt")
model.load_state_dict(state_dict)
model.requires_grad_(False)
model.eval()

You can use the predict_simulate method form MyriadStepByStep for unrolling trajectories or the forward to obtain a distribution for the current step.

The only dependencies you should need are a recent torch (to enable flex attention, although it would be plausible to patch it out with some effort to enable usage of lower torch version), and any einops, tqdm, and jaxtyping (dependency can be removed by deleting type hints) versions. Using DINOv3 additionally requires transformers to be installed.

About the Codebase

Code files are separated into major blocks with extensive comments explaining relevant choices, details, and conventions. For all public-facing APIs involving tensors, type hints with jaxtyping are provided, which might look like this: img: Float[torch.Tensor, "b c h w"]. They annotate the dtype (Float), tensor type torch.Tensor, and shape b c h w, and should (hopefully) make the code fully self-explanatory.

Coordinate & Image Conventions. We represent coordinates in (x, y) order with image coordinates normalized in $[0, 1]^2$ (the outer bounds of the image are defined to be 0 and 1 and coordinates are assigned based on pixel centers). Flow is in the same coordinate system, resulting in $[-1, 1]^2$ flow. Pixel values are normalized to $[-1, 1]$. See the Attention & RoPE Utilities section in model.py for further details

🔧 Training

Data Preprocessing. For data preprocessing instructions, please refer to the corresponding readme.

Launching Training. Single-GPU training can be launched via

python train.py [fpt | myriad | billiards] --tar_base /path/to/preprocessed/shards --out_dir output/test --compile True

Similarly, multi-GPU training, e.g., on 2 GPUs, can be launched using torchrun:

torchrun --nnodes 1 --nproc-per-node 2 train.py [...]

Training can be continued from a previous checkpoint by specifying, e.g., --load_checkpoint output/test/checkpoints/checkpoint_0100000.pt. Remove --compile True for significantly faster startup time at the cost of slower training & significantly increased VRAM usage.

For a full list of available arguments, refer to train.py. We use click, such that every argument to the main train function is directly available as a CLI argument.

💽 OWM

Preprocessed videos, metadata, and tracker annotations obtained using TapNext for the OWM benchmark are available on huggingface. To download all evaluation data including OWM, Physion, and Physics-IQ, run scripts/myriad_eval/download_datasets.sh (install gsutil with pip install gsutil if you do not already have it). You can easily run the OWM benchmark by running

python -m scripts.myriad_eval.openset_prediction --data-root path/to/data  --ckpt-path path/to/checkpoint --dataset-name [owm | physion | physics-iq]

The metadata in annotations.json contains additional information further describing the observed motion. For example we annotate the type of motion (e.g. rigid- or non-rigid-body physics), the number of actors with free will, and whether physical interactions between object occur. The annotations further include polygons that describe the area of the image where actors cannot move if motion is constrained.

Further Evaluation from MYRIAD

We additionally include code for our billiard planning-by-search evaluation in scripts/myriad_eval/billiard_planning.py from the MYRIAD paper. Further, scripts/myriad_eval/qual.py includes code to produce qualitative examples for trajectories sampled auto-regressively with our openset MYRIAD model.

License

We release the weights of our open-set model via huggingface at https://huggingface.co/CompVis (under the CC BY-NC 4.0 license), and will potentially release further variants (scaled up or with other improvements). Due to copyright concerns surrounding the WebVid dataset, will not distribute the model weights for the FPT model trained on it. Both models perform approximately equally (see Tab. 1 in the paper), although this will vary on a case-by-case basis due to the different training data.

Videos in the OWM benchmark are released under the Pexels License, we release annotations under the under the CC BY-NC-SA 4.0 license.

Code Credit

• Some model code is adapted from k-diffusion by Katherine Crowson (MIT)
• The DINOv2 code is adapted from minDinoV2 by Simo Ryu, which is in turn adapted from the official implementation by Oquab et al. (Apache 2.0)

🎓 Citation

If you find our model or code useful, please cite our papers:

@inproceedings{baumann2025whatif,
    title={What If: Understanding Motion Through Sparse Interactions}, 
    author={Stefan Andreas Baumann and Nick Stracke and Timy Phan and Bj{\"o}rn Ommer},
    booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
    year={2025}
}

@inproceedings{baumann2026envisioning,
  title={Envisioning the Future, One Step at a Time},
  author={Stefan Andreas Baumann and Jannik Wiese and Tommaso Martorella and Mahdi M. Kalayeh and Bj{\"o}rn Ommer},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2026}
}