TAKO demonstrates real-time adversarial takeover of robotic diffusion policies via reusable universal patches on visual inputs, achieving 100% success in steering attacker-chosen trajectories across multiple tasks, encoders, and diffusion methods.
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Flow Matching for Generative Modeling
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abstract
We introduce a new paradigm for generative modeling built on Continuous Normalizing Flows (CNFs), allowing us to train CNFs at unprecedented scale. Specifically, we present the notion of Flow Matching (FM), a simulation-free approach for training CNFs based on regressing vector fields of fixed conditional probability paths. Flow Matching is compatible with a general family of Gaussian probability paths for transforming between noise and data samples -- which subsumes existing diffusion paths as specific instances. Interestingly, we find that employing FM with diffusion paths results in a more robust and stable alternative for training diffusion models. Furthermore, Flow Matching opens the door to training CNFs with other, non-diffusion probability paths. An instance of particular interest is using Optimal Transport (OT) displacement interpolation to define the conditional probability paths. These paths are more efficient than diffusion paths, provide faster training and sampling, and result in better generalization. Training CNFs using Flow Matching on ImageNet leads to consistently better performance than alternative diffusion-based methods in terms of both likelihood and sample quality, and allows fast and reliable sample generation using off-the-shelf numerical ODE solvers.
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- abstract We introduce a new paradigm for generative modeling built on Continuous Normalizing Flows (CNFs), allowing us to train CNFs at unprecedented scale. Specifically, we present the notion of Flow Matching (FM), a simulation-free approach for training CNFs based on regressing vector fields of fixed conditional probability paths. Flow Matching is compatible with a general family of Gaussian probability paths for transforming between noise and data samples -- which subsumes existing diffusion paths as specific instances. Interestingly, we find that employing FM with diffusion paths results in a more
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representative citing papers
WavTTS is the first raw-waveform diffusion TTS model using DiT flow matching and multi-scale mel supervision that approaches SOTA latent zero-shot performance while beating prior end-to-end models.
AnyFlow enables any-step video diffusion by distilling flow-map transitions over arbitrary time intervals with on-policy backward simulation.
TrackCraft3R is the first method to repurpose a video diffusion transformer as a feed-forward dense 3D tracker via dual-latent representations and temporal RoPE alignment, achieving SOTA performance with lower compute.
Data geometry makes time identifiable from noisy interpolants at rate O(1/sqrt(d-k)), rendering the time-blindness gap asymptotically negligible relative to coupling variance.
Flux Matching generalizes score-based generative modeling by using a weaker objective that admits infinitely many non-conservative vector fields with the data as stationary distribution, enabling new design choices beyond traditional score matching.
A-CODE presents a fully atomic one-stage multimodal diffusion model for protein co-design that claims superior unconditional generation performance over prior one- and two-stage models plus a tenfold success-rate gain on hard binder-design tasks.
Derives closed-form posterior covariance for flow matching from divergence of velocity field, enabling post-hoc uncertainty on pre-trained models including one-step generators.
FMRG reformulates guidance as deterministic optimal control, deriving a single-trajectory method using the flow map that matches or exceeds baselines on reward-guided generation and inverse problems with 3 NFEs at text-to-image scale.
ReConText3D is the first replay-memory framework for continual text-to-3D generation that prevents catastrophic forgetting on new textual categories while preserving quality on previously seen classes.
Diffusion sampling from d-dimensional distributions requires at least ~sqrt(d) adaptive score queries when score estimates have polynomial accuracy.
OP-GRPO is the first off-policy GRPO method for flow-matching models that reuses trajectories via replay buffer and importance sampling corrections, matching on-policy performance with 34.2% of the training steps.
Generative diffusion and flow models are constructed to remain exactly on the Lorentz-invariant massless N-particle phase space manifold during sampling for particle physics applications.
FlowHijack is the first dynamics-aware backdoor attack on flow-matching VLAs that achieves high success rates with stealthy triggers while preserving benign performance and making malicious actions kinematically indistinguishable from normal ones.
Flow-GRPO is the first online RL method for flow matching models, raising GenEval accuracy from 63% to 95% and text-rendering accuracy from 59% to 92% with little reward hacking.
Normalizing flows are constructed by learning the velocity of a stochastic interpolant via a quadratic loss derived from its probability current, yielding an efficient ODE-based alternative to diffusion models.
QWERTY enables training-free motion control in pretrained image-to-video DiTs by warping the frame-invariant semantic subspace of queries in 3D full attention and using the predicted noise as self-guidance for latent optimization.
Proposes diffeomorphic optimization for manifold-constrained problems in generative models via flow maps, with Lie-group extensions for protein design showing metric improvements.
Self-conditioned flow language models solve fixed-point iterations, enabling fixed-point flow maps that distill into FMLM* which outperforms SOTA in few-step generation on OpenWebText.
Flow-Map GRPO uses anchored stochastic flow map composition to enable GRPO-based RL alignment of deterministic few-step flow-map generators while preserving their marginal paths.
Introduces a Bridge latent interface that maps mismatched student latents into teacher space, enabling distillation from modern diffusion teachers to compact one-step students and raising SD 1.5 HPSv3 from 5.4 to 9.4 while keeping one-step speed.
OOPSIEVERSE is a new damage-aware simulation benchmark for household robot manipulation that converts contact, thermal, and fluid signals into task-agnostic damage metrics and demonstrates uses in safer policy learning and benchmarking.
FlexiSLM is the first spoken language model supporting dynamic and controllable frame rates on speech input and output, outperforming fixed-rate 7B models at high quality and enabling faster inference at lower rates like 6.25 Hz.
MUSE shows that the native timestep embedding in diffusion models acts as a parameter-free steering signal for multi-task monocular depth and normal estimation via manifold decoupling in latent space.
citing papers explorer
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FlowErase-RL: Rethinking Concept Erasure as Reward Optimization in Flow Matching Models
FlowErase-RL applies GRPO to reformulate concept erasure in flow matching models as reward optimization using a dynamic dual-path mechanism for target suppression and non-target preservation.
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Inference-Time Scaling in Diffusion Models through Iterative Partial Refinement
IPR improves valid solution rates on MNIST Sudoku from 55.8% to 75.0% by iteratively refining partial regions in sequential diffusion models without external verifiers or reward models.
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Mat\'ern Noise for Triangulation-Agnostic Flow Matching on Meshes
Proposes discretized Matérn process noise for triangulation-agnostic flow matching on meshes with PoissonNet denoiser, tested on elastic states and humanoid poses for meshes exceeding one million triangles.
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Rethinking Muon Beyond Pretraining: Spectral Failures and High-Pass Remedies for VLA and RLVR
Pion modifies Muon's Newton-Schulz iterations into a controllable high-pass filter that anchors dominant singular values at 1 while suppressing noisy tails, outperforming Muon and AdamW in VLA and RLVR regimes.
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StableHand: Quality-Aware Flow Matching for World-Space Dual-Hand Motion Estimation from Egocentric Video
StableHand introduces a quality-aware flow matching framework conditioned on predicted four-channel per-frame hand observation quality to estimate dual-hand world-space motion from egocentric video, achieving SOTA results with 20-25% W-MPJPE reduction on HOT3D and ARCTIC benchmarks.
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Nested-GPT for variable-multiplicity parton showers: A case study in the resummation of non-global logarithms
Nested-GPT is an autoregressive Transformer surrogate that generates variable-multiplicity parton showers while enforcing ordered Markovian branching and matches reference Monte Carlo results for leading-log non-global logarithm resummation in the large-Nc limit.
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Learning Unbiased Permutations via Flow Matching
PermFlow applies conditional flow matching on the affine subspace of doubly stochastic matrices with a closed-form tangent projector and nearest-target coupling to capture multimodal permutation distributions.
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A Mutual Information Lower Bound for Multimodal Regression Active Learning
Derives MI-LB acquisition function from mutual information in a two-index epistemic-aleatoric framework and shows it outperforms baselines on multimodal regression benchmarks.
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Probing into Camera Control of Video Models
A training-free method reformulates camera control as geometric displacement fields applied via differentiable latent resampling, enabling control and bias probing in video diffusion models.
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HASTE: Training-Free Video Diffusion Acceleration via Head-Wise Adaptive Sparse Attention
HASTE delivers up to 1.93x speedup on Wan2.1 video DiTs via head-wise adaptive sparse attention using temporal mask reuse and error-guided per-head calibration while preserving video quality.
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TeDiO: Temporal Diagonal Optimization for Training-Free Coherent Video Diffusion
TeDiO regularizes temporal diagonals in diffusion transformer attention maps to produce smoother video motion while keeping per-frame quality intact.
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Realtime-VLA FLASH: Speculative Inference Framework for Diffusion-based VLAs
A new speculative inference system speeds up diffusion VLAs to 19.1 ms average latency (3.04x faster) on LIBERO by replacing most full 58 ms inferences with 7.8 ms draft rounds while preserving task performance.
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Sampling from Flow Language Models via Marginal-Conditioned Bridges
Marginal-conditioned bridges enable training-free sampling from Flow Language Models by drawing clean one-hot endpoints from factorized posteriors and using Ornstein-Uhlenbeck bridges, preserving token marginals and reducing denoising error versus conditional-mean bridges.
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OP4KSR: One-Step Patch-Free 4K Super-Resolution with Periodic Artifact Suppression
OP4KSR enables efficient one-step 4K super-resolution without patches by adapting Flux with RoPE rescaling and periodicity loss to suppress artifacts.
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Constraint-Aware Flow Matching: Decision Aligned End-to-End Training for Constrained Sampling
Constraint-Aware Flow Matching integrates constraint projections into the flow matching training objective to align model dynamics with constrained sampling and reduce distributional shift.
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OmniNFT: Modality-wise Omni Diffusion Reinforcement for Joint Audio-Video Generation
OmniNFT introduces modality-wise advantage routing, layer-wise gradient surgery, and region-wise loss reweighting in an online diffusion RL framework to improve audio-video quality, alignment, and synchronization.
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Aligning Flow Map Policies with Optimal Q-Guidance
Flow map policies enable fast one-step inference for flow-based RL policies, and FMQ provides an optimal closed-form Q-guided target for offline-to-online adaptation under trust-region constraints, achieving SOTA performance.
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Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.
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Generative Transfer for Entropic Optimal Transport with Unknown Costs
A generative transfer framework using iterative path-wise tilting integrated with conditional flow matching recovers target entropic optimal transport couplings from reference samples, achieving O(δ) convergence in Wasserstein-1 distance.
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Zero-couplings of infinite measures with cyclically monotone support and multivariate regular variation
Existence and uniqueness of cyclically monotone zero-couplings are established for arbitrary pairs of infinite measures in M_0(R^d) under a Hausdorff-dimension condition, with the tail limit of such couplings for regularly varying distributions coinciding with the unique proper zero-coupling of the
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SABER: A Scalable Action-Based Embodied Dataset for Real-World VLA Adaptation
SABER provides 44.8K multi-representation action samples from unscripted retail environments that raise a VLA model's mean success rate on ten manipulation tasks from 13.4% to 29.3%.
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Offline Preference Optimization for Rectified Flow with Noise-Tracked Pairs
PNAPO augments preference data with prior noise pairs and uses straight-line interpolation to create a tighter surrogate objective for offline alignment of rectified flow models.
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Physics-Informed Neural PDE Solvers via Spatio-Temporal MeanFlow
Spatio-Temporal MeanFlow adapts MeanFlow to PDEs by replacing the generative velocity field with the physical operator and extending the integral constraint to the spatio-temporal domain, yielding a unified solver for time-dependent and stationary equations with improved accuracy and generalization.
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Generative Actor-Critic with Soft Bridge Policies
SoftGAC defines a stochastic bridge from base to action latent that converts the MaxEnt objective into a tractable relative-entropy term reducible to control energy, achieving competitive returns with one-pass sampling.
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From Articulated Kinematics to Routed Visual Control for Action-Conditioned Surgical Video Generation
A kinematic-to-visual lifting paradigm combined with hierarchically routed control generates action-conditioned surgical videos with better faithfulness, fidelity, and efficiency.
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ACWM-Phys: Investigating Generalized Physical Interaction in Action-Conditioned Video World Models
ACWM-Phys is a controllable simulator benchmark with in- and out-of-distribution protocols for evaluating action-conditioned world models across rigid, kinematic, deformable, and particle dynamics.
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A Call to Lagrangian Action: Learning Population Mechanics from Temporal Snapshots
Wasserstein Lagrangian Mechanics formalizes second-order dynamics in Wasserstein space and provides an algorithm to learn them from observed marginals without specifying the Lagrangian, outperforming gradient flows on various dynamics.
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Geometry-Aware Discretization Error of Diffusion Models
First-order asymptotic expansions of weak and Fréchet discretization errors in diffusion sampling are derived, explicit under Gaussian data through covariance geometry and robust to other data geometries.
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One Token Per Frame: Reconsidering Visual Bandwidth in World Models for VLA Policy
Reducing visual input to one token per frame in VLA world models maintains or improves long-horizon performance on MetaWorld, LIBERO, and real-robot tasks.
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OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
OA-WAM uses persistent address vectors and dynamic content vectors in object slots to enable addressable world-action prediction, improving robustness on manipulation benchmarks under scene changes.
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Arena as Offline Reward: Efficient Fine-Grained Preference Optimization for Diffusion Models
ArenaPO infers Gaussian capability distributions from pairwise preferences and applies truncated-normal latent inference to derive fine-grained offline rewards for preference optimization of text-to-image diffusion models.
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Mixture Prototype Flow Matching for Open-Set Supervised Anomaly Detection
MPFM models flow matching velocity as a Gaussian mixture prior per normal class plus a mutual information regularizer to improve open-set anomaly detection over unimodal prototypes.
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Generative Modeling with Orbit-Space Particle Flow Matching
OGPP is a particle flow-matching method using orbit-space canonicalization and geometric paths that achieves lower error and fewer steps than prior approaches on 3D benchmarks.
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Divide and Conquer: Decoupled Representation Alignment for Multimodal World Models
M²-REPA decouples modality-specific features from diffusion intermediates and aligns them to complementary expert foundation models via a multi-modal alignment loss and modality-specific decoupling regularization for improved multimodal video generation.
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Arbitrarily Conditioned Hierarchical Flows for Spatiotemporal Events
ARCH is a hierarchical flow-based generative model that enables tractable conditional intensity computation and arbitrary conditioning for spatiotemporal event distributions.
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Being-H0.7: A Latent World-Action Model from Egocentric Videos
Being-H0.7 adds future-aware latent reasoning to direct VLA policies via dual-branch alignment on latent queries, matching world-model benefits at VLA efficiency.
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ABC: Any-Subset Autoregression via Non-Markovian Diffusion Bridges in Continuous Time and Space
ABC enables any-subset autoregressive generation of continuous stochastic processes via non-Markovian diffusion bridges that track physical time and allow path-dependent conditioning.
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DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors
Discrete diffusion policies act as natural asynchronous executors for robotics by treating action generation as iterative unmasking, yielding higher success rates and lower computation than flow-matching real-time chunking in dynamic tasks.
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CF-VLA: Efficient Coarse-to-Fine Action Generation for Vision-Language-Action Policies
CF-VLA uses a coarse initialization over endpoint velocity followed by single-step refinement to achieve strong performance with low inference steps on CALVIN, LIBERO, and real-robot tasks.
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Talker-T2AV: Joint Talking Audio-Video Generation with Autoregressive Diffusion Modeling
Talker-T2AV achieves better lip-sync accuracy, video quality, and audio quality than dual-branch baselines by separating high-level shared autoregressive modeling from modality-specific low-level diffusion refinement in a joint audio-video generation framework.
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Oracle Noise: Faster Semantic Spherical Alignment for Interpretable Latent Optimization
Oracle Noise optimizes diffusion model noise on a Riemannian hypersphere guided by key prompt words to preserve the Gaussian prior, eliminate norm inflation, and achieve faster semantic alignment than Euclidean methods.
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$Z^2$-Sampling: Zero-Cost Zigzag Trajectories for Semantic Alignment in Diffusion Models
Z²-Sampling implicitly realizes zero-cost zigzag trajectories for curvature-aware semantic alignment in diffusion models by reducing multi-step paths via operator dualities and temporal caching while synthesizing a directional derivative penalty.
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Beyond Expected Information Gain: Stable Bayesian Optimal Experimental Design with Integral Probability Metrics and Plug-and-Play Extensions
An IPM-based framework for Bayesian optimal experimental design is proposed that replaces KL-based expected information gain with Wasserstein, MMD, and energy distances, delivering stronger stability guarantees and plug-and-play extensions.
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Annealed Langevin Monte Carlo for Flow ODE Sampling
ALMC-ODE uses annealed Langevin Monte Carlo with Jarzynski reweighting to produce a low-variance velocity estimator for flow ODE sampling, with an O(1/n) MSE bound and superior performance on multimodal benchmarks.
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ReImagine: Rethinking Controllable High-Quality Human Video Generation via Image-First Synthesis
ReImagine decouples human appearance from temporal consistency via pretrained image backbones, SMPL-X motion guidance, and training-free video diffusion refinement to generate high-quality controllable videos.
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Mask World Model: Predicting What Matters for Robust Robot Policy Learning
Mask World Model predicts semantic mask dynamics with video diffusion and integrates it with a diffusion policy head, outperforming RGB world models on LIBERO and RLBench while showing better real-world generalization and texture robustness.
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Frequency-Forcing: From Scaling-as-Time to Soft Frequency Guidance
Frequency-Forcing guides pixel flow-matching with a data-derived low-frequency auxiliary stream to softly enforce scale-ordered generation, improving FID on ImageNet-256 over baselines.
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RF-HiT: Rectified Flow Hierarchical Transformer for General Medical Image Segmentation
TransSplat formulates language-driven 3D Gaussian Splatting editing as a multi-view unbalanced semantic transport problem, achieving better cross-view consistency and local editing precision than prior fusion-based methods on 8 benchmark scenes.
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HP-Edit: A Human-Preference Post-Training Framework for Image Editing
HP-Edit introduces a post-training framework and RealPref-50K dataset that uses a VLM-based HP-Scorer to align diffusion image editing models with human preferences, improving outputs on Qwen-Image-Edit-2509.
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Learning to Credit the Right Steps: Objective-aware Process Optimization for Visual Generation
OTCA improves GRPO training for visual generation by estimating step importance in trajectories and adaptively weighting multiple reward objectives.