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Yet there is no shared benchmark to compare approaches or quantify what active vision contributes, on which task types, and under what conditions. We introduce TAVIS, evaluation infrastructure for active-vision imitation learning, with two complementary task suites -- TAVIS-Head (5 tasks, global search via pan/tilt necks) and TAVIS-Hands (3 tasks, local occlusion via wrist cameras) -- on two humanoid torso embodiments (GR1T2, Reachy2), built on IsaacLab. TAVIS provides three evaluation primitives: a paired headcam-vs-fixedcam protocol on identical demonstrations; GALT (Gaze-Action Lead Time), a novel metric grounded in cognitive science and HRI that quantifies anticipatory gaze in learned policies; and procedural ID/OOD splits.","title":"TAVIS: A Benchmark for Egocentric Active Vision and Anticipatory Gaze in Imitation Learning","url":"https://arxiv.org/abs/2605.07943","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.07943v1 Announce Type: cross \nAbstract: Active vision -- where a policy controls its own gaze during manipulation -- has emerged as a key capability for imitation learning, with multiple independent systems demonstrating its benefits in the past year. Yet there is no shared benchmark to compare approaches or quantify what active vision contributes, on which task types, and under what conditions. We introduce TAVIS, evaluation infrastructure for active-vision imitation learning, with two complementary task suites -- TAVIS-Head (5 tasks, global search via pan/tilt necks) and TAVIS-Hands (3 tasks, local occlusion via wrist cameras) -- on two humanoid torso embodiments (GR1T2, Reachy2), built on IsaacLab. TAVIS provides three evaluation primitives: a paired headcam-vs-fixedcam protocol on identical demonstrations; GALT (Gaze-Action Lead Time), a novel metric grounded in cognitive science and HRI that quantifies anticipatory gaze in learned policies; and procedural ID/OOD splits.","title":"TAVIS: A Benchmark for Egocentric Active Vision and Anticipatory Gaze in Imitation Learning","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-11T04:43:50Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.07943"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:956bc29f2fe8e2bb5ac696453d47a606d9c11f4f9ec662ef523ddacd02465b7a79e9ccaf725e72b59cb87dd890aaf0c4e68dcbae39c902f803504b6c6316250f","signer":"crovia.substrate","subject":{"observed_at":"2026-05-11T04:43:50Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.07943"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"e5c0123cb71ee67c5782a4a86e043d60a0006bf3c33da6fbb0cd8cf718da854a","leaf_index":126546,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"1c4709ba07a7f882acb5840d1d4ca6d13fc3b11569f062271793efc4e842e0c9","side":"right"},{"sibling":"cbfc974d9e6123a4ae27a26ff401b0d18cae3e00fd740cabe408de0b9cf86cd9","side":"left"},{"sibling":"0ed7a9381bccb95fa3d74cf084c3a37b9d61aba7aba7c696f67cfa7fe6b493b8","side":"right"},{"sibling":"9be8481294541922dd232d3e022e207f0df8547afae80ecce197e1c601ac7f3c","side":"right"},{"sibling":"ffb071b886667138c99fcefbbc861d5806985fef8108ecc58915e36610b08e5d","side":"left"},{"sibling":"e714935606de78e5dd11f23cda801752708b30b85489f387e00b428848f31de6","side":"right"},{"sibling":"29f7475758dbfba222e92bceb258f532f323f301f5980a2e877cfa3325400dd7","side":"left"},{"sibling":"ad7b1a4dca274f08be7bc11dcd03ffbe41ba3906e71a39530ef457984a3802ed","side":"right"},{"sibling":"62d48549e4d4466089a57a96bd9bea15741d62a7cb314f0f9c37c4c22ac650fa","side":"right"},{"sibling":"a2c696699a233359c7b4b418ebd356db453d4b886f4bd076ef34b15ee86144a3","side":"left"},{"sibling":"1a581be91236d1f25e8d47fe5efa0e2b51b7f0f6d706ef76a9093067688e5d56","side":"left"},{"sibling":"878cc30108509c9fa1fc52705a216f519d73b647916fcbdfc30a389934d3364b","side":"left"},{"sibling":"ae7dfff36ba07d9f48c36c28a341482ef244ee13cd0efd49aee2bbef2fd65f87","side":"right"},{"sibling":"62ac6554017807bd83187f5a3e5f4f72d6c482616429c2780e9fff1f4845fa04","side":"left"},{"sibling":"3a5e69cf0803f4c91f3895ed7c9a95748fef240bec4422e167c05300f79f06c0","side":"left"},{"sibling":"f2817ab288b5324fe49770372c7a10f33f7cd11005f8d4c0a730316f5229dc98","side":"left"},{"sibling":"725fac972e772ca0dc598810ea1abc70df472f72d2d6ab8a0baee2b80e5d2f4c","side":"left"},{"sibling":"98fc57dfef8873b512edc8340f7181df57302bb96777625e072235c62d7c5895","side":"right"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":134292,"merkle_root":"77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260515T023701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-15T02:37:25Z","sig_algorithm":"ed25519","signature":"68107a834b00b24f5d4501e5ec727445311f132a486567ecc4c72a4e6dff24c8c21f2de3105293353ba5fdbe370d032819af6aa70f694e2e39b6af6737507009","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_5084e317d3ab5ea8784a0a723465f26e0cec22bff8a21e486873a568c3708df3"}}