Ad hoc teamwork (AHT) requires agents to collaborate with previously unseen teammates, which is crucial for many real-world applications. The core challenge of AHT is to develop an ego agent that can predict and adapt to unknown teammates on the fly. Conventional RL-based approaches optimize a single expected return, which often causes policies to collapse into a single dominant behavior, thus failing to capture the multimodal cooperation patterns inherent in AHT. In this work, we introduce PADiff, a diffusion-based approach that captures agent's multimodal behaviors, unlocking its diverse cooperation modes with teammates. However, standard diffusion models lack the ability to predict and adapt in non-stationary AHT scenarios. To address this limitation, we propose a novel diffusion-based policy that integrates critical predictive information about teammates into the denoising process. Extensive experiments across three environments demonstrate that PADiff outperforms existing AHT methods significantly.
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ProCache: Constraint-Aware Feature Caching with Selective Computation for Diffusion Transformer Acceleration
PDF ↗Diffusion Transformers (DiTs) have achieved state-of-the-art performance in generative modeling, yet their high computational cost hinders real-time deployment. While feature caching offers a promising training-free acceleration solution by exploiting temporal redundancy, existing methods suffer from two key limitations: (1) uniform caching intervals fail to align with the non-uniform temporal dynamics of DiT, and (2) naive feature reuse with excessively large caching intervals can lead to severe error accumulation. In this work, we analyze the evolution of DiT features during denoising and reveal that both feature changes and error propagation are highly time- and depth-varying. Motivated by this, we propose ProCache, a training-free dynamic feature caching framework that addresses these issues via two core components: (i) a constraint-aware caching pattern search module that generates non-uniform activation schedules through offline constrained sampling, tailored to the model’s temporal characteristics; and (ii) a selective computation module that selectively compute within deep blocks and high-importance tokens for cached segments to mitigate error accumulation with minimal overhead. Extensive experiments on PixArt-alpha and DiT demonstrate that ProCache achieves up to 1.96 times and 2.90 times acceleration with negligible quality degradation, significantly outperforming prior caching-based methods.
As synthetic data proliferates across the Internet, it is often reused to train successive generations of generative models. This creates a "self-consuming loop" that can lead to training instability or *model collapse*. Common strategies to address the issue---such as accumulating historical training data or injecting fresh real data---either increase computational cost or require expensive human annotation. In this paper, we empirically analyze the latent space dynamics of self-consuming diffusion models and observe that the low-dimensional structure of latent representations extracted from synthetic data degrade over generations. Based on this insight, we propose *Latent Space Filtering* (LSF), a novel approach that mitigates model collapse by filtering out less realistic synthetic data from mixed datasets. Theoretically, we present a framework that connects latent space degradation to empirical observations. Experimentally, we show that LSF consistently outperforms existing baselines across multiple real-world datasets, effectively mitigating model collapse without increasing training cost or relying on human annotation.
Out-of-distribution (OOD) detection plays a critical role in ensuring the robustness of machine learning models in open-world settings. While extensive efforts have been made in vision, language, and graph domains, the challenge of OOD detection in hypergraph-structured data remains unexplored. In this work, we formalize the problem of hypergraph out-of-distribution (HOOD) detection, which aims to identify nodes or hyperedges whose high-order relational contexts differ significantly from those seen during training. We propose HyperGOOD, a unified energy-based detection framework that integrates multi-scale spectral decomposition with structure-aware uncertainty propagation. By preserving both low- and high-frequency signals and diffusing uncertainty across the hypergraph, HyperGOOD effectively captures subtle and relationally entangled anomalies. Experimental results on nine hypergraph datasets demonstrate the effectiveness of our approach, establishing a new foundation for robust hypergraph learning under distributional shifts.
Text-to-image diffusion models utilize cross-attention to integrate textual information into the visual latent space, yet the transformation from text embeddings to latent features remains largely unexplored. We provide a mechanistic analysis of the output-value (OV) circuits within cross-attention layers through spectral analysis via singular value decomposition. Our analysis reveals that semantic concepts are encoded in low-dimensional subspaces spanned by singular vectors in OV circuits across cross-attention heads. To verify this, we intervene on concept-related components in the diffusion process, demonstrating that intervention on identified spectral components affects conceptual changes. We further validate these findings by examining visual outputs of isolated subspaces and their alignment with text embedding space. Through this mechanistic understanding, we demonstrate that only nullifying these spectral components can achieve targeted concept removal with performance comparable to existing methods while providing interpretability. Our work reveals how cross-attention layers encode semantic concepts in spectral subspaces of OV circuits, providing mechanistic insights and enabling precise concept manipulation without retraining.
Knowledge editing aims to update specific knowledge in Large Language Models (LLMs) without retraining the entire model. However, existing methods generally struggle to manage the ripple effects of knowledge updates, particularly in multi-hop reasoning tasks, where conflicts between old and new information often lead to shifts in reasoning chains and degraded consistency. To address this issue, a ripple-aware knowledge editing framework, namely EchoEdit, is proposed. EchoEdit introduces the RippleGraph to explicitly model potentially affected knowledge regions and employs a RippleRule generator to dynamically produce diffusion rules, precisely constraining knowledge propagation. Furthermore, we distill a Chain-of-Thought (CoT) planner from an external teacher model, which decouples complex reasoning chain planning into RippleGraph-guided reasoning, thereby alleviating the reasoning burden on low-resource LLMs in multi-hop tasks. Experimental results on the MQuAKE and RIPPLEEDITS multi-hop reasoning benchmarks demonstrate that EchoEdit significantly outperforms existing mainstream methods, effectively enhancing post-edit reasoning consistency and generalization capabilities.
Knowledge Tracing (KT) aims to dynamically model a student’s mastery of knowledge concepts based on their historical learning interactions. Most current methods rely on single-point estimates, which cannot distinguish true ability from outburst or carelessness, creating ambiguity in judging mastery. To address this issue, we propose a Knowledge Mastery-State Disambiguation for Knowledge Tracing model (KeenKT), which represents a student’s knowledge state at each interaction using a Normal-Inverse-Gaussian (NIG) distribution, thereby capturing the fluctuations in student learning behaviors. Furthermore, we design an NIG-distance-based attention mechanism to model the dynamic evolution of the knowledge state. In addition, we introduce a diffusion-based denoising reconstruction loss and a distributional contrastive learning loss to enhance the model’s robustness. Extensive experiments on six public datasets demonstrate that KeenKT outperforms state-of-the-art KT models in terms of prediction accuracy and sensitivity to behavioral fluctuations. The proposed method yields the maximum AUC improvement of 5.85% and the maximum ACC improvement of 6.89%.
MyGram: Modality-aware Graph Transformer with Global Distribution for Multi-modal Entity Alignment
PDF ↗Multi-modal entity alignment aims to identify equivalent entities between two multi-modal Knowledge graphs by integrating multi-modal data, such as images and text, to enrich the semantic representations of entities. However, existing methods may overlook the structural contextual information within each modality, making them vulnerable to interference from shallow features. To address these challenges, we propose MyGram, a \textbf{m}odalit\textbf{y}-aware \textbf{gra}ph transformer with global distribution for \textbf{m}ulti-modal entity alignment. Specifically, we develop a modality diffusion learning module to capture deep structural contextual information within modalities and enable fine-grained multi-modal fusion. In addition, we introduce a Gram Loss that acts as a regularization constraint by minimizing the volume of a 4-dimensional parallelotope formed by multi-modal features, thereby achieving global distribution consistency across modalities. We conduct experiments on five public datasets. Results show that MyGram outperforms baseline models, achieving a maximum improvement of 4.8\% in Hits@1 on FBDB15K, 9.9\% on FBYG15K, and 4.3\% on DBP15K.
In diffusion auctions, sellers can leverage an underlying social network to broaden participation, thereby increasing their potential revenue. Specifically, sellers can incentivise participants in their auction to diffuse information about the auction through the network. While numerous variants of such auctions have been recently studied in the literature, the formal verification and strategic reasoning perspectives have not been investigated yet. Our contribution is threefold. First, we introduce a logical formalism that captures the dynamics of diffusion and its strategic dimension. Second, for such a logic, we provide model-checking procedures that allow one to verify properties like the Nash equilibrium, and that pave the way towards checking the existence of sellers' strategies. Third, we establish computational complexity results for the presented algorithms.
Diffusion policies excel at robotic manipulation by naturally modeling multimodal action distributions in high-dimensional spaces. Nevertheless, diffusion policies suffer from diffusion representation collapse: semantically similar observations are mapped to indistinguishable features, ultimately impairing their ability to handle subtle but critical variations required for complex robotic manipulation. To address this problem, we propose D²PPO (Diffusion Policy Policy Optimization with Dispersive Loss). D²PPO introduces dispersive loss regularization that combats representation collapse by treating all hidden representations within each batch as negative pairs. D²PPO compels the network to learn discriminative representations of similar observations, thereby enabling the policy to identify subtle yet crucial differences necessary for precise manipulation. In evaluation, we find that early-layer regularization benefits simple tasks, while late-layer regularization sharply enhances performance on complex manipulation tasks. On RoboMimic benchmarks, D²PPO achieves an average improvement of 22.7% in pre-training and 26.1% after fine-tuning, setting new SOTA results. In comparison with SOTA, the results of real-world experiments on a Franka Emika Panda robot show the excitingly high success rate of our method. The superiority of our method is especially evident in complex tasks.
Autonomous execution of long-horizon, contact-rich manipulation tasks traditionally requires extensive real-world data and expert engineering, posing significant cost and scalability challenges. This paper proposes a novel framework integrating hierarchical semantic decomposition, reinforcement learning (RL), visual language models (VLMs), and knowledge distillation to overcome these limitations. Complex tasks are decomposed into atomic skills, with RL-trained policies for each primitive exclusively in simulation. Crucially, our RL formulation incorporates explicit force constraints to prevent object damage during delicate interactions. VLMs perform high-level task decomposition and skill planning, generating diverse expert demonstrations. These are distilled into a unified policy via Visual-Tactile Diffusion Policy for end-to-end execution. We conduct comprehensive ablation studies exploring different VLM-based task planners to identify optimal demonstration generation pipelines, and systematically compare imitation learning algorithms for skill distillation. Extensive simulation experiments and physical deployment validate that our approach achieves policy learning for long-horizon manipulation without costly human demonstrations, while the VLM-guided atomic skill framework enables scalable generalization to diverse tasks.
Dexterous grasping remains a fundamental yet challenging problem in robotics. A general-purpose robot must be capable of grasping diverse objects in arbitrary scenarios. However, existing research typically relies on restrictive assumptions, such as single-object settings or limited environments, showing constrained generalization. We present DexGraspVLA, a hierarchical framework for robust generalization in language-guided general dexterous grasping and beyond. It utilizes a pre-trained Vision-Language model as the high-level planner and learns a diffusion-based low-level Action controller. The key insight to achieve generalization lies in iteratively transforming diverse language and visual inputs into domain-invariant representations via foundation models, where imitation learning can be effectively applied due to the alleviation of domain shift. Notably, our method achieves a 90+% dexterous grasping success rate under thousands of challenging unseen cluttered scenes. Empirical analysis confirms the consistency of internal model behavior across environmental variations, validating our design. DexGraspVLA also, for the first time, simultaneously demonstrates free-form long-horizon prompt execution, robustness to adversarial objects and human disturbance, and failure recovery. Extended application to nonprehensile grasping further proves its generality.
Millimeter-wave radar offers a promising sensing modality for autonomous systems thanks to its robustness in adverse conditions and low cost. However, its utility is significantly limited by the sparsity and low resolution of radar point clouds, which poses challenges for tasks requiring dense and accurate 3D perception. Despite that recent efforts have shown great potential by exploring generative approaches to address this issue, they often rely on dense voxel representations that are inefficient and struggle to preserve structural detail. To fill this gap, we make the key observation that latent diffusion models (LDMs), though successful in other modalities, have not been effectively leveraged for radar-based 3D generation due to a lack of compatible representations and conditioning strategies. We introduce RaLD, a framework that bridges this gap by integrating scene-level frustum-based LiDAR autoencoding, order-invariant latent representations, and direct radar spectrum conditioning. These insights lead to a more compact and expressive generation process. Experiments show that RaLD produces dense and accurate 3D point clouds from raw radar spectrums, offering a promising solution for robust perception in challenging environments.
ForeDiffusion: Foresight-Conditioned Diffusion Policy via Future View Construction for Robot Manipulation
PDF ↗Diffusion strategies have advanced visual motor control by progressively denoising high-dimensional action sequences, providing a promising method for robot manipulation. However, as task complexity increases, the success rate of existing baseline models decreases considerably. Analysis indicates that current diffusion strategies are confronted with two limitations. First, these strategies only rely on short-term observations as conditions. Second, the training objective remains limited to a single denoising loss, which leads to error accumulation and causes grasping deviations. To address these limitations, this paper proposes Foresight-Conditioned Diffusion (ForeDiffusion), by injecting the predicted future view representation into the diffusion process. As a result, the policy is guided to be forward-looking, enabling it to correct trajectory deviations. Following this design, ForeDiffusion employs a dual loss mechanism, combining the traditional denoising loss and the consistency loss of future observations, to achieve the unified optimization. Extensive evaluation on the Adroit suite and the MetaWorld benchmark demonstrates that ForeDiffusion achieves an average success rate of 80% for the overall task, significantly outperforming the existing mainstream diffusion methods by approximately 20% in high difficulty tasks, while maintaining more stable performance across the entire tasks.
Current paradigms for robotic imitation learning face a stark trade-off between the motion fidelity of diffusion models and the data scalability of inverse dynamics models. The latter, while scalable, often learns a latent action space disconnected from physical reality. This flaw leads to critical failures: temporal entanglement, where the model cannot distinguish between visually similar states requiring distinct actions, e.g., a gripper approaching versus receding from an object. This ambiguity, compounded by discretization artifacts and sensitivity to task-irrelevant dynamics, renders robust planning infeasible. We introduce LatentVLA, a vision-language-action framework designed to overcome these limitations by learning a continuous and spatiotemporally grounded latent action representation. Its progressive three-stage architecture first employs a Temporal-Attentive Latent Action Model (TA-LAM) to resolve ambiguities using language-guided attention and explicit temporal encoding. Subsequently, a Latent Action Diffusion Transformer (LADT) performs planning via diffusion directly within this continuous latent space, preserving motion fidelity without tokenization. Finally, an expert policy head translates these latent plans into precise robot actions. Experiments show LatentVLA sets a new state-of-the-art across a suite of real-world bimanual tasks, outperforming prior methods and demonstrating superior zero-shot generalization and few-shot efficiency.
Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention to target regions. Instead, visual attention is always dispersed. To guide the visual attention grounding on the correct target, we propose ReconVLA, a reconstructive VLA model with an implicit grounding paradigm. Conditioned on the model's visual outputs, a diffusion transformer aims to reconstruct the gaze region of the image, which corresponds to the target manipulated objects. This process prompts the VLA model to learn fine-grained representations and accurately allocate visual attention, thus effectively leveraging task-specific visual information and conducting precise manipulation. Moreover, we curate a large-scale pretraining dataset comprising over 100k trajectories and 2 million data samples from open-source robotic datasets, further boosting the model’s generalization in visual reconstruction. Extensive experiments in simulation and the real world demonstrate the superiority of our implicit grounding method, showcasing its capabilities of precise manipulation and generalization.
In robot manipulation, robot learning has become a prevailing approach. However, generative models within this field face a fundamental trade-off between the slow, iterative sampling of diffusion models and the architectural constraints of faster Flow-based methods, which often rely on explicit consistency losses. To address these limitations, we introduce MP1, which pairs 3D point-cloud inputs with the MeanFlow paradigm to generate action trajectories in one network function evaluation (1-NFE). By directly learning the interval-averaged velocity via the "MeanFlow Identity", our policy avoids any additional consistency constraints. This formulation eliminates numerical ODE-solver errors during inference, yielding more precise trajectories. MP1 further incorporates CFG for improved trajectory controllability while retaining 1-NFE inference without reintroducing structural constraints. Because subtle scene-context variations are critical for robot learning, especially in few-shot learning, we introduce a lightweight Dispersive Loss that repels state embeddings during training, boosting generalization without slowing inference. We validate our method on the Adroit and Meta-World benchmarks, as well as in real-world scenarios. Experimental results show MP1 achieves superior average task success rates, outperforming DP3 by 10.2% and FlowPolicy by 7.3%. Its average inference time is only 6.8 ms—19 times faster than DP3 and nearly 2 times faster than FlowPolicy.
Predicting pedestrian motion trajectories is critical for the path planning and motion control of autonomous vehicles. Recent diffusion-based models have shown promising results in capturing the inherent stochasticity of pedestrian behavior for trajectory prediction. However, the absence of explicit semantic modelling of pedestrian intent in many diffusion-based methods may result in misinterpreted behaviors and reduced prediction accuracy. To address the above challenges, we propose a diffusion-based pedestrian trajectory prediction framework that incorporates both short-term and long-term motion intentions. Short-term intent is modelled using a residual polar representation, which decouples direction and magnitude to capture fine-grained local motion patterns. Long-term intent is estimated through a learnable, token-based endpoint predictor that generates multiple candidate goals with associated probabilities, enabling multimodal and context-aware intention modelling. Furthermore, we enhance the diffusion process by incorporating adaptive guidance and a residual noise predictor that dynamically refines denoising accuracy. The proposed framework is evaluated on the widely used ETH, UCY, NBA, and SDD benchmarks, demonstrating competitive results against state-of-the-art methods.
Generative world models have become essential data engines for autonomous driving, yet most focus on videos or occupancy grids and overlook the unique challenges of LiDAR. Extending LiDAR generation to dynamic 4D modeling requires addressing controllability, temporal coherence, and standardized evaluation. We present LiDARCrafter, a unified framework for controllable 4D LiDAR generation and editing. Free-form language instructions are converted into ego-centric scene graphs that guide a tri-branch diffusion model to generate object geometry, motion, and structural priors. An autoregressive module further produces temporally coherent and stable LiDAR sequences with improved global consistency. To enable fair comparison, we introduce a comprehensive benchmark covering scene-, object-, and sequence-level metrics for rigorous and reproducible evaluation. Experiments on nuScenes show that LiDARCrafter achieves state-of-the-art fidelity, controllability, and temporal consistency, paving the way for scalable data augmentation and realistic simulation in diverse scenarios. Code have been publicly available at https://lidarcrafter.github.io.
The current diffusion-based Vision-Language-Action (VLA) models have faster inference speed and the ability to solve the action muti-modality problem in robot manipulation tasks compared to traditional autoregressive models after large-scale pre-training and post-training. However, the diffusion-based VLA models were found to have poor instruction-following ability, and after fine-tuning training on multiple tasks, them often suffer from "skill forgetting" due to conflicting model weights on each task. To address this problem, we propose DiTEA, a Diffusion Transformer-based Mixture-of-Experts (MoE) VLA model. Specifically, it fuses the MoE module into the action head of VLA to form Action MoE, and in addition, we design the Task-Instruction Gate, which uses language instructions to select specific experts for tasks they specialize in, in order to improve the VLA's instruction-following ability. We conducted comprehensive experiments and ablation study to evaluate the efficacy of our model under different designs. Experimental results from simulation and real-world show that our DiTEA has excellent improvement in multi-task compared to baseline and other VLAs.