UniQuery4R: Unified 4D Scene Reconstruction from a Single Query

Paper | Project Page | Code

Tiancheng Chen¹, Sheng Tang¹, Wenhua Jin^1,2, Weiqi Zhang³, Juntong Fang³, Junsheng Zhou³, Zesong Li¹

¹Kosmo Research    ²Automotive Engineering Department, Jilin University    ³School of Software, Tsinghua University

UniQuery4R is a query-conditioned feed-forward framework for unified 4D scene reconstruction from a single query. A variable-length multi-view clip is jointly encoded once; at decoding time, a continuous source-pixel query q = (u, v, src, tgt) selects the source and target views via source-to-target cross-attention. Each query jointly predicts target correspondence (warp2d), target-time 3D position (warp3d), scene flow (warp3d_delta, parameterized as direction x magnitude) and source depth, while camera parameters are estimated per view.

Model files

File	Description
uniquery4r.pth	UniQuery4R weights (ViT-g encoder, ~1.65B parameters)

Usage

Install the code from the GitHub repository, then either download this file manually or let huggingface_hub fetch it automatically by passing the repo id:

python scripts/infer_4d.py --checkpoint Kosmo-Research/UniQuery4R --input path/to/images --output outputs/demo

from uniquery4r.models.uniquery4r import UniQuery4R

model = UniQuery4R.from_pretrained("Kosmo-Research/UniQuery4R", device="cuda")

import torch
images = ...  # [S, 3, H, W] float tensor in [0, 1]
with torch.inference_mode():
    predictions = model(images)

See the GitHub README for the full CLI, motion-mask, viewer and WorldTrack-evaluation workflows.

Citation

@article{chen2026uniquery4r,
  title={{UniQuery4R}: Unified {4D} Scene Reconstruction from a Single Query},
  author={Chen, Tiancheng and Tang, Sheng and Jin, Wenhua and Zhang, Weiqi and Fang, Juntong and Zhou, Junsheng and Li, Zesong},
  journal={arXiv preprint arXiv:2608.17283},
  year={2026}
}

License

Released under the Apache License 2.0. Portions of the codebase are adapted from VGGT and remain under the VGGT License (non-commercial); see NOTICE for details.