TL; DR. Our target-aware model generates a video in which an actor accurately interacts with the target, specified with its segmentation mask.
Abstract
We present a target-aware video diffusion model that generates videos from an input image, in which an actor interacts with a specified target while performing a desired action. The target is defined by a segmentation mask, and the action is described through a text prompt.
Our key motivation is to incorporate target awareness into video generation, enabling actors to perform directed actions on designated objects. This enables video diffusion models to act as motion planners, producing plausible predictions of human-object interactions by leveraging the priors of large-scale video generative models.
We build our target-aware model by extending a baseline model to incorporate the target mask as an additional input. To enforce target awareness, we introduce a special token that encodes the target's spatial information within the text prompt. We then fine-tune the model with our curated dataset using an additional cross-attention loss that aligns the cross-attention maps associated with this token with the input target mask. To further improve performance, we selectively apply this loss to the most semantically relevant attention regions and transformer blocks.
Experimental results show that our target-aware model outperforms existing solutions in generating videos where actors interact accurately with the specified targets. We further demonstrate its efficacy in two downstream applications: zero-shot 3D HOI motion synthesis with physical plausibility and long-term video content creation.
Results
Comparison on target alignment
Our target-aware model generates videos where the actor interacts with the specified target. Baseline methods often hallucinate the target described in the input text prompt, leading to unintended outputs.
"The girl turns and picks up the [TGT] teddy bear resting on the bed."
"The man lifts the [TGT] bottle of coke and takes a slow sip."
Multiple objects of the same type
In scenes with multiple objects of the same type, our method enables actors to accurately interact with the intended target by leveraging its mask.
"The woman picks up the [TGT] mug cup and takes a sip of coffee."
Non-human interactions
While trained on human-scene interaction datasets, our target-aware model generalizes to non-human interactions.
Left: “The rabbit turns its head towards the [TGT] carrot and takes a bite of it.”
Right: “The dog bites onto the [TGT] frisbee and lifts it off the ground.”
Control over both the actor and the target
Our model, extended to take in two masks, enables specifying both the source actor and the target object. The actor is indicated with a red mask and the target is indicated with a green mask.
“The [SRC] robotic arm picks up the [TGT] blue can with its robot hand.”
Targeting in complex scenes
Our model successfully generates videos that capture accurate interactions with the target object, even when the target occupies only a small portion of a complex scene.
“The man picks up the [TGT] tumbler bottle from the table and takes a drink of water.”
“The woman picks up the [TGT] red carton.”
Providing motion
Our output videos can serve as a source of motion data for existing controllable video generation approaches, such as
Diffusion as Shader (Das).
“The person sits on the [TGT] chair.”
“The rabbit turns its head towards the [TGT] carrot and takes a bite.”
Applications
Video content creation
Given images of a person and a scene, we perform depth-based 3D insertion of the person
into the scene and render them together to produce frames for video diffusion input. We interpolate generated initial and final frames to
synthesize navigation contents, and utilize our target-aware video diffusion model to synthesize action and manipulation contents.
Zero-shot 3D human-object interaction synthesis
We demonstrate our target-aware model's connection with robotic applications by performing imitation learning on 3D poses of a person interacting with a target in the scene.
We use GVHMR to estimate 3D human motions from our generated videos and PhysHOI to perform physics-based imitation learning of the human motion.
Method
1. We first extend a baseline video diffusion model to incorporate the mask as an additional input.
2. We introduce a [TGT] token that will be used to encode target's spatial information in the text prompt.
3. We fine-tune the model using our cross-attention loss that aligns the cross-attention maps associated with this token with the input target mask.
During inference, we prepend the [TGT] token to words referring to the target and enable the model to leverage the spatial cue provided by the mask. Our cross-attention loss effectively guides the [TGT] token to focus on the target region, enabling precise interactions between the actor and the target.
For effective and efficient supervision, we selectively apply our cross-attention loss to the model by identifying:
1. transformer blocks that best capture semantic details (Left) : We first generate 100 videos and compute L2 error between cross-attention map of each block and the segmentation mask for a predefined token to evaluate semantic alignment of each block. We apply our loss to region of blocks with the least error.
2. cross-attention regions that most influence target awareness of the model (Right) : While both text-to-video (T2V) and video-to-text (V2T) cross-attention maps encode semantic information, we apply our cross-attention loss on V2T cross-attention regions, since V2T attention directly influences the video latent representations.
To integrate the target mask during generation, we extend our base image-to-video diffusion model, CogVideoX. Specifically, we concatenate the downsampled mask alongside the input image condition and append an extra input channel to the original image projection layer. During fine-tuning, we train the image projection layer and the transformer.
To train our target-aware model, we curate 1290 videos from Ego-Exo4D and BEHAVE datasets that satisfy two conditions:
1. the initial frame should depict a scene where an actor is present but not yet interacting with the target, and
2. subsequent frames must capture the actor engaging with the target.
We obtain the mask for the target in the initial frame using SAM and generate text prompts with CogVLM2-Caption. While it is ideal to prepend [TGT] tokens to the target object tokens during caption generation, we find that current video captioning tools cannot reliably identify the target object in complex scenes. Therefore, we add a general sentence, "The person interacts with [TGT] object." to the generated captions, which we find sufficient to train our target-aware model.
BibTeX
@inproceedings{kim2025target,
title={Target-Aware Video Diffusion Models},
author={Kim, Taeksoo and Joo, Hanbyul},
booktitle={ICLR},
year={2026}
}
