Daily Papers

Mobility simulation supports logistics, safety, and communications planning in industrial environments such as ports, mines, and airports. Existing trajectory models, however, rely on absolute coordinates, road-network tokens, or semantic zones: representations that are site-specific and not well suited to unstructured industrial terrain. We introduce the Industrial Kinematic Trajectory Model (IKTM), a coordinate-free trajectory generator that represents industrial vehicle motion through kinematic sequences (speed and heading change) with no absolute spatial reference. IKTM uses an autoregressive causal transformer with probabilistic mixture heads and extends our prior coordinate-free Markovian model with deep sequence modelling and an explicit duration-conditioning signal. Trained on one site and evaluated zero-shot on three unseen sites, it matches the small-turn shape of the empirical turn-rate distributions of held-out telematics; across all four sites, the per-site mean Jensen-Shannon divergence over 100 sampling seeds spans approximately 0.035-0.050 bits under an oracle-length duration-target protocol and approximately 0.032-0.042 bits under a fully zero-shot prior-length protocol, with similar ranges whether out-of-distribution (OOD) duration targets are drawn from each held-out site's empirical length distribution or from the Site A prior. Both protocols stay above the metric's sampling-noise floor (<=0.0049 bits). Paired by site, the oracle-length values are 5.3-6.0x lower than those of a re-implementation of our prior Markovian model under the same 1 Hz protocol. Termination is duration-conditioned rather than spatial: rollouts stop on 100% of trials with a length-tracking error of +0.0 +/- 0.0 s against the sampled target (100 of 100 exactly on target; N=100, T=0.2, untouched in-distribution test split).

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the low-level trajectories themselves. In this work, we address this assumption thoroughly, and investigate if an LLM (GPT-4) can directly predict a dense sequence of end-effector poses for manipulation skills, when given access to only object detection and segmentation vision models. We study how well a single task-agnostic prompt, without any in-context examples, motion primitives, or external trajectory optimisers, can perform across 26 real-world language-based tasks, such as "open the bottle cap" and "wipe the plate with the sponge", and we investigate which design choices in this prompt are the most effective. Our conclusions raise the assumed limit of LLMs for robotics, and we reveal for the first time that LLMs do indeed possess an understanding of low-level robot control sufficient for a range of common tasks, and that they can additionally detect failures and then re-plan trajectories accordingly. Videos, code, and prompts are available at: https://www.robot-learning.uk/language-models-trajectory-generators.

End-to-end multi-modal planning is a promising paradigm in autonomous driving, enabling decision-making with diverse trajectory candidates. A key component is a robust trajectory scorer capable of selecting the optimal trajectory from these candidates. While recent trajectory scorers focus on scoring either large sets of static trajectories or small sets of dynamically generated ones, both approaches face significant limitations in generalization. Static vocabularies provide effective coarse discretization but struggle to make fine-grained adaptation, while dynamic proposals offer detailed precision but fail to capture broader trajectory distributions. To overcome these challenges, we propose GTRS (Generalized Trajectory Scoring), a unified framework for end-to-end multi-modal planning that combines coarse and fine-grained trajectory evaluation. GTRS consists of three complementary innovations: (1) a diffusion-based trajectory generator that produces diverse fine-grained proposals; (2) a vocabulary generalization technique that trains a scorer on super-dense trajectory sets with dropout regularization, enabling its robust inference on smaller subsets; and (3) a sensor augmentation strategy that enhances out-of-domain generalization while incorporating refinement training for critical trajectory discrimination. As the winning solution of the Navsim v2 Challenge, GTRS demonstrates superior performance even with sub-optimal sensor inputs, approaching privileged methods that rely on ground-truth perception. Code will be available at https://github.com/NVlabs/GTRS.

Robotic manipulation is often specified through language instructions or task identifiers, yet cluttered environments with similar objects are better handled by spatially indicating what to move and where to place it. Addressing the vision-centric challenge of object and goal specification, we present, to the best of our knowledge, the first formalization of Spatially Prompted Visual Trajectory Prediction (SP-VTP). This novel setting utilizes initial spatial prompts (like bounding boxes or points) to define task objectives, tasking the model with forecasting future end-effector trajectories from egocentric streams. To study this problem, we collect and annotate EgoSPT, a dataset of egocentric spatially prompted manipulation trajectories with first-frame object and target grounding annotations and recovered 3D end-effector motion. SP-VTP is challenging because the task specification is static, while the scene configuration evolves over time. To solve this problem, we propose SPOT(Spatially Prompted Object-Target Policy), which combines a task encoder for first-frame visual and coordinate spatial prompts, an observation encoder for current visual and history context, and a trajectory generator for future end-effector motion. Experiments under strict scene-level splits show that SPOT improves cross-scene trajectory prediction over non-prompted or single-source prompted baselines. Together, EgoSPT and SPOT establish a new spatial prompting problem SP-VTP, as a simple and scalable task condition for egocentric manipulation.

Cinematic camera control relies on a tight feedback loop between director and cinematographer, where camera motion and framing are continuously reviewed and refined. Recent generative camera systems can produce diverse, text-conditioned trajectories, but they lack this "director in the loop" and have no explicit supervision of whether a shot is visually desirable. This results in in-distribution camera motion but poor framing, off-screen characters, and undesirable visual aesthetics. In this paper, we introduce VERTIGO, the first framework for visual preference optimization of camera trajectory generators. Our framework leverages a real-time graphics engine (Unity) to render 2D visual previews from generated camera motion. A cinematically fine-tuned vision-language model then scores these previews using our proposed cyclic semantic similarity mechanism, which aligns renders with text prompts. This process provides the visual preference signals for Direct Preference Optimization (DPO) post-training. Both quantitative evaluations and user studies on Unity renders and diffusion-based Camera-to-Video pipelines show consistent gains in condition adherence, framing quality, and perceptual realism. Notably, VERTIGO reduces the character off-screen rate from 38% to nearly 0% while preserving the geometric fidelity of camera motion. User study participants further prefer VERTIGO over baselines across composition, consistency, prompt adherence, and aesthetic quality, confirming the perceptual benefits of our visual preference post-training.

Expert demonstrations often specify what a robot should do, but not how fast it can do it. Imitation Learning (IL) inherits demonstration timing, while directly accelerating the learned motion can fail when faster execution changes the robot-object dynamics. We study faster-than-demonstration execution as a dynamics-aware control problem and introduce Expert-Play Contouring Control (EPCC), which combines slow expert demonstrations with fast, non-expert play. Expert demonstrations train a latent trajectory generator whose predictions are reparameterized into a time-independent contour of successful task progression, while play trains a world model (WM) of fast-action outcomes. At deployment, our proposed planner uses the WM to optimize actions that makes maximize progress along the expert-derived contour while penalizing deviation from the intended task evolution. Averaged across three visuomotor manipulation tasks, EPCC achieves a 2.0times the throughput of the IL baseline, including 2.2times that of the throughput of the strongest acceleration baseline on a task with interaction-sensitive object dynamics. Our analysis shows that the gains concentrate where faster execution changes robot-object evolution. Together, our results highlight a simple yet effective principle: demonstrations provide task intent, while play data provides the dynamic coverage needed to execute that intent faster.

Autonomous driving has garnered significant attention for its potential to improve safety, traffic efficiency, and user convenience. However, the dynamic and complex nature of interactive driving poses significant challenges, including the need to navigate non-linear road geometries, handle dynamic obstacles, and meet stringent safety and comfort requirements. Traditional approaches, such as artificial potential fields (APF), often fall short in addressing these complexities independently, necessitating the development of integrated and adaptive frameworks. This paper presents a novel approach to autonomous vehicle navigation that integrates artificial potential fields, Frenet coordinates, and improved particle swarm optimization (IPSO). A dynamic risk field, adapted from traditional APF, is proposed to ensure interactive safety by quantifying risks and dynamically adjusting lane-changing intentions based on surrounding vehicle behavior. Frenet coordinates are utilized to simplify trajectory planning on non-straight roads, while an enhanced quintic polynomial trajectory generator ensures smooth and comfortable path transitions. Additionally, an IPSO algorithm optimizes trajectory selection in real time, balancing safety and user comfort within a feasible input range. The proposed framework is validated through extensive simulations and real-world scenarios, demonstrating its ability to navigate complex traffic environments, maintain safety margins, and generate smooth, dynamically feasible trajectories.

Scaling inference-time computation has enabled Large Language Models (LLMs) to achieve strong reasoning performance, but inherently sequential decoding leads to substantial latency, especially on complex tasks. Recent work on adaptive parallel reasoning aims to improve inference efficiency by decomposing the problem-solving process into concurrent reasoning threads when beneficial. However, existing methods on realistic tasks are either limited to supervised behavior cloning or exhibit significant accuracy drops compared to widely-used sequential long chain-of-thought (CoT) baselines. Moreover, many require customized inference engines, complicating deployment. We introduce ThreadWeaver, a framework for adaptive parallel reasoning that achieves accuracy on par with popular sequential reasoning models of comparable size while significantly reducing inference latency. ThreadWeaver's performance stems from three key innovations: 1) a two-stage parallel trajectory generator that produces large-scale, high-quality CoT data with parallel annotations for supervised fine-tuning; 2) a trie-based training-inference co-design that enables parallel reasoning on any off-the-shelf autoregressive inference engine without modifying position embeddings or KV caches; and 3) a parallelization-aware reinforcement learning framework that teaches the model to balance accuracy with effective parallelization. Across six challenging mathematical reasoning benchmarks, ThreadWeaver trained atop Qwen3-8B achieves accuracy comparable to cutting-edge sequential reasoning models (71.9% on average and 79.9% on AIME24) while delivering up to 1.53x average speedup in token latency, establishing a new Pareto frontier between accuracy and efficiency.

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative models trained on curated data to learn road agents' stochastic behavior bounded by scene constraints. However, they often face mode averaging issues due to data imbalance and simplistic priors, and could even suffer from mode collapse due to unstable training and single ground truth supervision. These issues lead the existing methods to a loss of predictive diversity and adherence to the scene constraints. To address these challenges, we introduce a novel trajectory generator named Controllable Diffusion Trajectory (CDT), which integrates map information and social interactions into a Transformer-based conditional denoising diffusion model to guide the prediction of future trajectories. To ensure multimodality, we incorporate behavioral tokens to direct the trajectory's modes, such as going straight, turning right or left. Moreover, we incorporate the predicted endpoints as an alternative behavioral token into the CDT model to facilitate the prediction of accurate trajectories. Extensive experiments on the Argoverse 2 benchmark demonstrate that CDT excels in generating diverse and scene-compliant trajectories in complex urban settings.

Generating interactive and dynamic 4D scenes from a single static image remains a core challenge. Most existing generate-then-reconstruct and reconstruct-then-generate methods decouple geometry from motion, causing spatiotemporal inconsistencies and poor generalization. To address these, we extend the reconstruct-then-generate framework to jointly perform Motion generation and geometric Reconstruction for 4D Synthesis (MoRe4D). We first introduce TrajScene-60K, a large-scale dataset of 60,000 video samples with dense point trajectories, addressing the scarcity of high-quality 4D scene data. Based on this, we propose a diffusion-based 4D Scene Trajectory Generator (4D-STraG) to jointly generate geometrically consistent and motion-plausible 4D point trajectories. To leverage single-view priors, we design a depth-guided motion normalization strategy and a motion-aware module for effective geometry and dynamics integration. We then propose a 4D View Synthesis Module (4D-ViSM) to render videos with arbitrary camera trajectories from 4D point track representations. Experiments show that MoRe4D generates high-quality 4D scenes with multi-view consistency and rich dynamic details from a single image. Code: https://github.com/Zhangyr2022/MoRe4D.

Enabling Large Language Models (LLMs) to effectively utilize tools in multi-turn interactions is essential for building capable autonomous agents. However, acquiring diverse and realistic multi-turn tool-use data remains a significant challenge. In this work, we propose a novel text-based paradigm. We observe that textual corpora naturally contain rich, multi-step problem-solving experiences, which can serve as an untapped, scalable, and authentic data source for multi-turn tool-use tasks. Based on this insight, we introduce GEM, a data synthesis pipeline that enables the generation and extraction of multi-turn tool-use trajectories from text corpora through a four-stage process: relevance filtering, workflow & tool extraction, trajectory grounding, and complexity refinement. To reduce the computational cost, we further train a specialized Trajectory Synthesizer via supervised fine-tuning. This model distills the complex generation pipeline into an efficient, end-to-end trajectory generator. Experiments demonstrate that our GEM-32B achieve a 16.5% improvement on the BFCL V3 Multi-turn benchmark. Our models partially surpass the performance of models trained on τ - bench (Airline and Retail) in-domain data, highlighting the superior generalization capability derived from our text-based synthesis paradigm. Notably, our Trajectory Synthesizer matches the quality of the full pipeline while significantly reducing inference latency and costs.

Successful real-world deployment of legged robots would require them to adapt in real-time to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper presents Rapid Motor Adaptation (RMA) algorithm to solve this problem of real-time online adaptation in quadruped robots. RMA consists of two components: a base policy and an adaptation module. The combination of these components enables the robot to adapt to novel situations in fractions of a second. RMA is trained completely in simulation without using any domain knowledge like reference trajectories or predefined foot trajectory generators and is deployed on the A1 robot without any fine-tuning. We train RMA on a varied terrain generator using bioenergetics-inspired rewards and deploy it on a variety of difficult terrains including rocky, slippery, deformable surfaces in environments with grass, long vegetation, concrete, pebbles, stairs, sand, etc. RMA shows state-of-the-art performance across diverse real-world as well as simulation experiments. Video results at https://ashish-kmr.github.io/rma-legged-robots/

Executable software engineering data is valuable for training SWE agents, but scaling it remains difficult for two reasons: only a small fraction of real repository changes yield verifiable, high-signal task instances, and naively building repository-specific environments quickly becomes the dominant systems cost. We present SWE-Next, an execution-grounded framework for scalable SWE task and trajectory collection. On the data side, SWE-Next mines real merged pull requests, executes candidate base/merged commit pairs, and retains only those that produce strict test improvements without regressions, yielding self-verifying instances. It also applies strict submission gating so that collected trajectories remain evidence-driven rather than speculative. On the systems side, SWE-Next introduces reusable repo-quarter profiles, which reuse the same environment across nearby commits in time while keeping each task run separate and reproducible. Using only 30 hours and 639GB of environment storage, SWE-Next processes 3,971 seed repositories and 102,582 candidate commit pairs mined from real merged PRs to construct a dataset of 2,308 self-verifying instances. Experiments show that SWE-Next improves downstream pass@1 with fewer or comparable training trajectories, indicating that its gains come not from a stronger trajectory generator, but from higher-signal execution-grounded supervision and more efficient data collection.

Realistic traffic simulation requires agents that imitate logged behavior and can also be steered along interpretable axes. Such controllability enables engineers to isolate variables, reproduce specific edge cases, and test autonomous systems without real-world risk. We introduce Controllable Neural Variational Agents (CNeVA), a controllable simulated-agent framework that learns to infer a per-agent Gaussian behavior latent from per-channel discounted returns via a closed-form conjugate variational update, conditioning a rectified-flow trajectory generator trained on a mixed channel-mask curriculum for classifier-free guidance. To tackle scarcity in reward signals, we propose soft eligibility gates that replace hard binary thresholds with smooth exponential decay, preserving the gradient signal for near-threshold agents. On the Waymo Open Motion Dataset, CNeVA attains competitive realism on the benchmark while exposing per-channel controllability that the higher-ranked imitation models lack. Speed- and acceleration-based steering produces monotone responses without stall-induced reward hacking. Safety controllability is monotone and substantial with the introduction of soft eligibility. We manage to achieve steerable map compliance under a context-residual return measure. Furthermore, our experiment demonstrates that steering metrics must be read alongside physical-plausibility guardrails to avoid reward-hacking confounds.

Existing autonomous-driving world models typically perform dense prediction of future videos, occupancy states, BEV representations, or agent motion. We argue that planning need not reconstruct the complete future world, but only focus on scene features that affect future ego action. Based on this perspective, we propose Auto-JEPA, an action-oriented latent world model that learns continuous future driving intent through joint-embedding prediction. Given visual observations, egomotion history, and navigation commands, Auto-JEPA predicts an intent embedding aligned with the latent representation of the future ego trajectory. The predicted intent retrieves executable trajectories from a fixed trajectory memory, which are then ranked by a scene-conditioned candidate selection module. Auto-JEPA keeps the visual encoder frozen, requires no explicit perception annotations, and uses no learned trajectory generator. By optimizing only task-specific modules for trajectory representation, intent prediction, and candidate selection, Auto-JEPA achieves 91.3 PDMS on NAVSIM v1 and 89.1 EPDMS on NAVSIM v2. Semantic occlusion experiments show that masking dynamic-agent regions induces an average intent change 2.97x that of equal-area random masking. Moreover, occluding vehicles that affect future driving substantially changes the predicted intent and selected trajectory, whereas both remain essentially unchanged when non-influential vehicles are occluded. These results show that future-intent prediction encourages the model to focus on planning-relevant visual features and supports high-quality planning without dense future-world modeling.

Recent video generation approaches increasingly rely on planning intermediate control signals such as object trajectories to improve temporal coherence and motion fidelity. However, these methods mostly employ single-shot plans that are typically limited to simple motions, or iterative refinement which requires multiple calls to the video generator, incuring high computational cost. To overcome these limitations, we propose SketchVerify, a training-free, sketch-verification-based planning framework that improves motion planning quality with more dynamically coherent trajectories (i.e., physically plausible and instruction-consistent motions) prior to full video generation by introducing a test-time sampling and verification loop. Given a prompt and a reference image, our method predicts multiple candidate motion plans and ranks them using a vision-language verifier that jointly evaluates semantic alignment with the instruction and physical plausibility. To efficiently score candidate motion plans, we render each trajectory as a lightweight video sketch by compositing objects over a static background, which bypasses the need for expensive, repeated diffusion-based synthesis while achieving comparable performance. We iteratively refine the motion plan until a satisfactory one is identified, which is then passed to the trajectory-conditioned generator for final synthesis. Experiments on WorldModelBench and PhyWorldBench demonstrate that our method significantly improves motion quality, physical realism, and long-term consistency compared to competitive baselines while being substantially more efficient. Our ablation study further shows that scaling up the number of trajectory candidates consistently enhances overall performance.

We present FlexTraj, a framework for image-to-video generation with flexible point trajectory control. FlexTraj introduces a unified point-based motion representation that encodes each point with a segmentation ID, a temporally consistent trajectory ID, and an optional color channel for appearance cues, enabling both dense and sparse trajectory control. Instead of injecting trajectory conditions into the video generator through token concatenation or ControlNet, FlexTraj employs an efficient sequence-concatenation scheme that achieves faster convergence, stronger controllability, and more efficient inference, while maintaining robustness under unaligned conditions. To train such a unified point trajectory-controlled video generator, FlexTraj adopts an annealing training strategy that gradually reduces reliance on complete supervision and aligned condition. Experimental results demonstrate that FlexTraj enables multi-granularity, alignment-agnostic trajectory control for video generation, supporting various applications such as motion cloning, drag-based image-to-video, motion interpolation, camera redirection, flexible action control and mesh animations.

Recent advances in one-step text-to-image generation have enabled real-time synthesis with remarkable efficiency and quality. Previous reinforcement learning methods for one-step generators combine image-space reward optimization with diffusion noisy-space distribution matching. This paradigm brings challenges due to a mismatch between terminal reward optimization and the underlying generative dynamics. As a result, optimization tends to exploit stochastic degrees of freedom, often improving reward at the expense of image fidelity. To address this issue, we propose Diff-Instruct with Diffused Reward (DIDR), a data-free trajectory-level alignment framework derived from Integral KL minimization. DIDR propagates the RLHF-optimal reward-tilted clean-image distribution across all noise levels along the diffusion trajectory. We show that this objective admits the same minimizer as clean-image RLHF, while naturally inducing the Diffused Reward Score (DRS), which acts as a reward-driven correction to the reference score function. To make this practical, we further introduce the Diffused Reward Proxy (DRP), an efficient estimator of DRS based on differentiable short-step denoising. Extensive experiments demonstrate that DIDR consistently Pareto-dominates existing one-step SDXL baselines. Moreover, when transferred to a 6B DiT backbone (Z-Image), DIDR surpasses its 50-step teacher in preference alignment while requiring only a single generation step.

Reusable skills have become a core substrate for improving agent capabilities, yet most existing skill packages encode reusable behavior primarily as textual prompts, executable code, or learned routines. For visual agents, however, procedural knowledge is inherently multimodal: reuse depends not only on what operation to perform, but also on recognizing the relevant state, interpreting visual evidence of progress or failure, and deciding what to do next. We formalize this requirement as multimodal procedural knowledge and address three practical challenges: (I) what a multimodal skill package should contain; (II) where such packages can be derived from public interaction experience; and (III) how agents can consult multimodal evidence at inference time without excessive image context or over-anchoring to reference screenshots. We introduce MMSkills, a framework for representing, generating, and using reusable multimodal procedures for runtime visual decision making. Each MMSkill is a compact, state-conditioned package that couples a textual procedure with runtime state cards and multi-view keyframes. To construct these packages, we develop an agentic trajectory-to-skill Generator that transforms public non-evaluation trajectories into reusable multimodal skills through workflow grouping, procedure induction, visual grounding, and meta-skill-guided auditing. To use them, we introduce a branch-loaded multimodal skill agent: selected state cards and keyframes are inspected in a temporary branch, aligned with the live environment, and distilled into structured guidance for the main agent. Experiments across GUI and game-based visual-agent benchmarks show that MMSkills consistently improve both frontier and smaller multimodal agents, suggesting that external multimodal procedural knowledge complements model-internal priors.

Navigation instruction generation from ego-centric RGB video in continuous environments is an important yet challenging task for human-robot interaction and scalable dataset construction. Prior instruction generators assume discrete viewpoint graphs with panoramic observations, where trajectory structure is explicit; in continuous environments, however, the agent receives only a dense RGB stream, making trajectory cues difficult to recover. We propose VTInstructor, the first VLN instruction generation framework for continuous environments. Our key idea is to convert implicit trajectory geometry into explicit visual trajectory prompts: EDTC condenses long RGB trajectories into navigation-critical keyframes, VTP overlays path, turn, and goal cues onto these anchors, VTMod injects the resulting trajectory signals into the visual encoder, and VT-GRPO further calibrates this spatial injection during training, all without requiring a navigation graph, pre-built map, or scene reconstruction. On the challenging R2R-CE and RxR-CE Val Unseen benchmarks, VTInstructor sets a new state of the art across all standard NLG metrics, surpassing the strongest baseline by +0.357 CIDEr and +0.109 CIDEr, respectively. Beyond automatic metrics, VTInstructor-generated instructions raise a frozen follower's success rate to 63.3%, a +14.7 percentage-point gain over the best competing instruction source, and provide consistent data augmentation gains of +3 SR points on downstream navigation tasks.

Large language model agents solve tasks through long sequences of tool calls, and the prevailing design has a single strong model generate every step, although many steps are routine enough for a much smaller model. Existing ways of sharing this work keep the strong model as the generator: routers and collaborative agents decide which model handles each query or step, and speculative methods check a small model's drafts one step at a time, usually against the strong model's own action. We introduce SpecAgent, a collaboration protocol that turns the strong model from the author of each step into a reviewer of steps drafted by a weak model. The weak model executes read-only tool calls as it drafts, so that every step is grounded in real observations, and holds the first action that would modify the environment. The strong model then verifies the drafted segment in a single prefill pass, commits the longest prefix it judges semantically valid, and repairs the first rejected step. Because verification replaces autoregressive decoding with parallel prefill, the strong model decodes only short verdicts and occasional repairs rather than every step. On τ^2-Bench, SpecAgent comes within one point of the strong model's success rate while roughly halving memory traffic and wall time, and on AutomationBench and VitaBench it recovers 44-75% of the quality gap while lowering both. In an edge-cloud deployment on MCP-Atlas with three cloud models, it closes 53-75% of the weak-strong quality gap while the strong model generates at most half as many tokens. These results suggest that a strong model need not author every step of an agent: reviewing grounded drafts retains most of its quality while cutting both latency and memory traffic.

The rapid advancement of diffusion-based image generators has made it increasingly difficult to distinguish generated from real images. This erodes trust in digital media, making it critical to develop generated image detectors that remain reliable across different generators. While recent approaches leverage diffusion denoising cues, they typically rely on single-step reconstruction errors and overlook the sequential nature of the denoising process. In this work, we propose LATTE - LATent Trajectory Embedding - a novel approach that models the evolution of latent embeddings across multiple denoising steps. Instead of treating each denoising step in isolation, LATTE captures the trajectory of these representations, revealing subtle and discriminative patterns that distinguish real from generated images. Experiments on several benchmarks, such as GenImage, Chameleon, and Diffusion Forensics, show that LATTE achieves superior performance, especially in challenging cross-generator and cross-dataset scenarios, highlighting the potential of latent trajectory modeling. The code is available on the following link: https://github.com/AnaMVasilcoiu/LATTE-Diffusion-Detector.

Can we generate a control policy for an agent using just one demonstration of desired behaviors as a prompt, as effortlessly as creating an image from a textual description? In this paper, we present Make-An-Agent, a novel policy parameter generator that leverages the power of conditional diffusion models for behavior-to-policy generation. Guided by behavior embeddings that encode trajectory information, our policy generator synthesizes latent parameter representations, which can then be decoded into policy networks. Trained on policy network checkpoints and their corresponding trajectories, our generation model demonstrates remarkable versatility and scalability on multiple tasks and has a strong generalization ability on unseen tasks to output well-performed policies with only few-shot demonstrations as inputs. We showcase its efficacy and efficiency on various domains and tasks, including varying objectives, behaviors, and even across different robot manipulators. Beyond simulation, we directly deploy policies generated by Make-An-Agent onto real-world robots on locomotion tasks.

Accelerating the sampling speed of diffusion models remains a significant challenge. Recent score distillation methods distill a heavy teacher model into an one-step student generator, which is optimized by calculating the difference between the two score functions on the samples generated by the student model. However, there is a score mismatch issue in the early stage of the distillation process, because existing methods mainly focus on using the endpoint of pre-trained diffusion models as teacher models, overlooking the importance of the convergence trajectory between the student generator and the teacher model. To address this issue, we extend the score distillation process by introducing the entire convergence trajectory of teacher models and propose Distribution Backtracking Distillation (DisBack) for distilling student generators. DisBask is composed of two stages: Degradation Recording and Distribution Backtracking. Degradation Recording is designed to obtain the convergence trajectory of teacher models, which records the degradation path from the trained teacher model to the untrained initial student generator. The degradation path implicitly represents the intermediate distributions of teacher models. Then Distribution Backtracking trains a student generator to backtrack the intermediate distributions for approximating the convergence trajectory of teacher models. Extensive experiments show that DisBack achieves faster and better convergence than the existing distillation method and accomplishes comparable generation performance. Notably, DisBack is easy to implement and can be generalized to existing distillation methods to boost performance. Our code is publicly available on https://github.com/SYZhang0805/DisBack.

This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles; those results are extended to continuous time to ensure the robustness of the generator in a real-time setting. We show that the stochastic model in continuous time can capture the uncertainty of information by producing better results, limiting the risk of violating the problem's constraints compared to a discrete approach. Dynamic solvers provide faster computation and the continuous-time model is more robust to a wider variety of driving scenarios than the discrete-time model, as it can handle further time horizons, which allows trajectory planning outside the framework of urban driving scenarios.

We introduce GS2E (Gaussian Splatting to Event), a large-scale synthetic event dataset for high-fidelity event vision tasks, captured from real-world sparse multi-view RGB images. Existing event datasets are often synthesized from dense RGB videos, which typically lack viewpoint diversity and geometric consistency, or depend on expensive, difficult-to-scale hardware setups. GS2E overcomes these limitations by first reconstructing photorealistic static scenes using 3D Gaussian Splatting, and subsequently employing a novel, physically-informed event simulation pipeline. This pipeline generally integrates adaptive trajectory interpolation with physically-consistent event contrast threshold modeling. Such an approach yields temporally dense and geometrically consistent event streams under diverse motion and lighting conditions, while ensuring strong alignment with underlying scene structures. Experimental results on event-based 3D reconstruction demonstrate GS2E's superior generalization capabilities and its practical value as a benchmark for advancing event vision research.

Recent advances in trajectory-controllable video generation have achieved remarkable progress. Previous methods mainly use adapter-based architectures for precise motion control along predefined trajectories. However, all these methods rely on a multi-step denoising process, leading to substantial time redundancy and computational overhead. While existing video distillation methods successfully distill multi-step generators into few-step, directly applying these approaches to trajectory-controllable video generation results in noticeable degradation in both video quality and trajectory accuracy. To bridge this gap, we introduce FlashMotion, a novel training framework designed for few-step trajectory-controllable video generation. We first train a trajectory adapter on a multi-step video generator for precise trajectory control. Then, we distill the generator into a few-step version to accelerate video generation. Finally, we finetune the adapter using a hybrid strategy that combines diffusion and adversarial objectives, aligning it with the few-step generator to produce high-quality, trajectory-accurate videos. For evaluation, we introduce FlashBench, a benchmark for long-sequence trajectory-controllable video generation that measures both video quality and trajectory accuracy across varying numbers of foreground objects. Experiments on two adapter architectures show that FlashMotion surpasses existing video distillation methods and previous multi-step models in both visual quality and trajectory consistency.

Diffusion Models (DMs) have achieved great success in image generation and other fields. By fine sampling through the trajectory defined by the SDE/ODE solver based on a well-trained score model, DMs can generate remarkable high-quality results. However, this precise sampling often requires multiple steps and is computationally demanding. To address this problem, instance-based distillation methods have been proposed to distill a one-step generator from a DM by having a simpler student model mimic a more complex teacher model. Yet, our research reveals an inherent limitations in these methods: the teacher model, with more steps and more parameters, occupies different local minima compared to the student model, leading to suboptimal performance when the student model attempts to replicate the teacher. To avoid this problem, we introduce a novel distributional distillation method, which uses an exclusive distributional loss. This method exceeds state-of-the-art (SOTA) results while requiring significantly fewer training images. Additionally, we show that DMs' layers are differentially activated at different time steps, leading to an inherent capability to generate images in a single step. Freezing most of the convolutional layers in a DM during distributional distillation enables this innate capability and leads to further performance improvements. Our method achieves the SOTA results on CIFAR-10 (FID 1.54), AFHQv2 64x64 (FID 1.23), FFHQ 64x64 (FID 0.85) and ImageNet 64x64 (FID 1.16) with great efficiency. Most of those results are obtained with only 5 million training images within 6 hours on 8 A100 GPUs.

Executing complex terminal tasks remains a significant challenge for open-weight LLMs, constrained by two fundamental limitations. First, high-fidelity, executable training environments are scarce: environments synthesized from real-world repositories are not diverse and scalable, while trajectories synthesized by LLMs suffer from hallucinations. Second, standard instruction tuning uses expert trajectories that rarely exhibit simple mistakes common to smaller models. This creates a distributional mismatch, leaving student models ill-equipped to recover from their own runtime failures. To bridge these gaps, we introduce TermiGen, an end-to-end pipeline for synthesizing verifiable environments and resilient expert trajectories. Termi-Gen first generates functionally valid tasks and Docker containers via an iterative multi-agent refinement loop. Subsequently, we employ a Generator-Critic protocol that actively injects errors during trajectory collection, synthesizing data rich in error-correction cycles. Fine-tuned on this TermiGen-generated dataset, our TermiGen-Qwen2.5-Coder-32B achieves a 31.3% pass rate on TerminalBench. This establishes a new open-weights state-of-the-art, outperforming existing baselines and notably surpassing capable proprietary models such as o4-mini. Dataset is avaiable at https://github.com/ucsb-mlsec/terminal-bench-env.

High-level autonomous driving requires motion planners capable of modeling multimodal future uncertainties while remaining robust in closed-loop interactions. Although diffusion-based planners are effective at modeling complex trajectory distributions, they often suffer from stochastic instabilities and the lack of corrective negative feedback when trained purely with imitation learning. To address these issues, we propose RAD-2, a unified generator-discriminator framework for closed-loop planning. Specifically, a diffusion-based generator is used to produce diverse trajectory candidates, while an RL-optimized discriminator reranks these candidates according to their long-term driving quality. This decoupled design avoids directly applying sparse scalar rewards to the full high-dimensional trajectory space, thereby improving optimization stability. To further enhance reinforcement learning, we introduce Temporally Consistent Group Relative Policy Optimization, which exploits temporal coherence to alleviate the credit assignment problem. In addition, we propose On-policy Generator Optimization, which converts closed-loop feedback into structured longitudinal optimization signals and progressively shifts the generator toward high-reward trajectory manifolds. To support efficient large-scale training, we introduce BEV-Warp, a high-throughput simulation environment that performs closed-loop evaluation directly in Bird's-Eye View feature space via spatial warping. RAD-2 reduces the collision rate by 56% compared with strong diffusion-based planners. Real-world deployment further demonstrates improved perceived safety and driving smoothness in complex urban traffic.

LLM-powered agents face a persistent challenge: learning from their execution experiences to improve future performance. While agents can successfully complete many tasks, they often repeat inefficient patterns, fail to recover from similar errors, and miss opportunities to apply successful strategies from past executions. We present a novel framework for automatically extracting actionable learnings from agent execution trajectories and utilizing them to improve future performance through contextual memory retrieval. Our approach comprises four components: (1) a Trajectory Intelligence Extractor that performs semantic analysis of agent reasoning patterns, (2) a Decision Attribution Analyzer that identifies which decisions and reasoning steps led to failures, recoveries, or inefficiencies, (3) a Contextual Learning Generator that produces three types of guidance -- strategy tips from successful patterns, recovery tips from failure handling, and optimization tips from inefficient but successful executions, and (4) an Adaptive Memory Retrieval System that injects relevant learnings into agent prompts based on multi-dimensional similarity. Unlike existing memory systems that store generic conversational facts, our framework understands execution patterns, extracts structured learnings with provenance, and retrieves guidance tailored to specific task contexts. Evaluation on the AppWorld benchmark demonstrates consistent improvements, with up to 14.3 percentage point gains in scenario goal completion on held-out tasks and particularly strong benefits on complex tasks (28.5~pp scenario goal improvement, a 149\% relative increase).

Large language models (LLMs) progressively revise their predictions across Transformer layers, yet we typically observe only the final output, discarding the trajectory through which it is formed. We introduce Belief-Trajectory Energy(BTE), a model-grounded measure that characterizes an input through the layerwise predictive revisions it induces in a model. By mapping intermediate states into a shared predictive space, BTE provides a principled measure of belief change that can be summarized as either a scalar or a structured depth profile. Theoretically, we show that local BTE corresponds to predictive revision under the Fisher-Rao geometry, while the sequence of revisions captures information beyond the initial-to-final belief change. Empirically, scalar BTE provides a model-relative signal of difficulty across diverse reasoning tasks, while richer BTE representations support human-LLM review detection and fine-grained generator attribution, reaching up to 0.998 macro-AUROC and 95.6% eight-way attribution accuracy. Further analysis shows that BTE develops throughout pretraining and is selectively reshaped by targeted training, demonstrating that the resulting measurement reflects what the scoring model has learned. Together, our results establish belief trajectories as a principled model-grounded signal and suggest a broader perspective in which learned models can themselves serve as instruments for characterizing the data they process. More demonstrations can be found at https://yingjiahao14.github.io/BTE-web/.

Accelerating diffusion model sampling is crucial for efficient AIGC deployment. While diffusion distillation methods -- based on distribution matching and trajectory matching -- reduce sampling to as few as one step, they fall short on complex tasks like text-to-image generation. Few-step generation offers a better balance between speed and quality, but existing approaches face a persistent trade-off: distribution matching lacks flexibility for multi-step sampling, while trajectory matching often yields suboptimal image quality. To bridge this gap, we propose learning few-step diffusion models by Trajectory Distribution Matching (TDM), a unified distillation paradigm that combines the strengths of distribution and trajectory matching. Our method introduces a data-free score distillation objective, aligning the student's trajectory with the teacher's at the distribution level. Further, we develop a sampling-steps-aware objective that decouples learning targets across different steps, enabling more adjustable sampling. This approach supports both deterministic sampling for superior image quality and flexible multi-step adaptation, achieving state-of-the-art performance with remarkable efficiency. Our model, TDM, outperforms existing methods on various backbones, such as SDXL and PixArt-alpha, delivering superior quality and significantly reduced training costs. In particular, our method distills PixArt-alpha into a 4-step generator that outperforms its teacher on real user preference at 1024 resolution. This is accomplished with 500 iterations and 2 A800 hours -- a mere 0.01% of the teacher's training cost. In addition, our proposed TDM can be extended to accelerate text-to-video diffusion. Notably, TDM can outperform its teacher model (CogVideoX-2B) by using only 4 NFE on VBench, improving the total score from 80.91 to 81.65. Project page: https://tdm-t2x.github.io/

While recent Flow Matching models avoid the reconstruction bottlenecks of latent autoencoders by operating directly in pixel space, the lack of semantic continuity in the pixel manifold severely intertwines optimal transport paths. This induces severe trajectory conflicts near intersections, yielding sub-optimal solutions. Rather than bypassing this issue via information-lossy latent representations, we directly untangle the pixel-space trajectories by proposing Waypoint Diffusion Transformers (WiT). WiT factorizes the continuous vector field via intermediate semantic waypoints projected from pre-trained vision models. It effectively disentangles the generation trajectories by breaking the optimal transport into prior-to-waypoint and waypoint-to-pixel segments. Specifically, during the iterative denoising process, a lightweight generator dynamically infers these intermediate waypoints from the current noisy state. They then continuously condition the primary diffusion transformer via the Just-Pixel AdaLN mechanism, steering the evolution towards the next state, ultimately yielding the final RGB pixels. Evaluated on ImageNet 256x256, WiT beats strong pixel-space baselines, accelerating JiT training convergence by 2.2x. Code will be publicly released at https://github.com/hainuo-wang/WiT.git.

Most benchmarks for causal inference over time series are observational, small, or domain-specific, leaving interventional and counterfactual estimation under-served exactly where it matters most, such as in healthcare, policy evaluation, and climate science. We introduce DoTime, an open, scalable, and theoretically grounded generator of multivariate temporal structural causal models (TSCMs) with interventions, released as the dotime PyPI package together with four frozen evaluation suites. Beyond existing work, it adds capabilities absent from prior generators: continuous-time intervention windows, counterfactual sampling modes with a positivity guard, regime-switching SCMs as a strict generalization of interrupted time series, non-stationary dynamics by construction with switching SCM parameters, and deterministic ramp and sinusoidal intervention profiles that place trends and structural breaks inside the evaluation window. Moreover, it demonstrates the suitability of the generator as a prior for a causal foundation model reference implementation. The released suites span a training-scale snapshot of 100{,}000 trajectories and eight named identification structures, each with exact ground truth: paired interventional trajectories from the same SCM throughout, and shared-noise counterfactuals in the continuous-time suite. We ship reference baseline implementations with an evaluation harness, and pose a falsifiable claim: interventional training buys a measurable direction-accuracy advantage over an observational model of identical capacity. It is tested across three training seeds per arm. Under structure-matched evaluation on held-out episodes, the interventional prior-fitted network's (PFN) gap is positive in every structure, trajectory length, and seed tested.

Reliable multi-view forecasting requires videos from different cameras to describe the same evolving 3D scene. To this end, we introduce Video-Point Model (VPM), a world model that conditions on multi-view video histories and a language instruction to jointly forecast future videos from arbitrary viewpoints and the 3D trajectories of persistent scene points. We extend a pretrained world model with camera-conditioned multi-view processing that integrates complementary observations across cameras, and add a trajectory head that predicts how physical points move through time. Each trajectory tracks a single point across all views, and supervising these trajectories alongside video generation therefore anchors appearance changes in every camera to a shared description of 3D motion. To support training and evaluation, we build VPM-Data, a simulation corpus pairing synchronized multi-view videos with persistent point trajectories, and VP-WorldBench, a forecasting benchmark spanning simulated and real environments. We further extend VPM to robot control by adding robot actions as a token modality in the generator. Action tokens share the point-supervised backbone and are denoised jointly with future videos, thereby grounding the policy in the same 3D-aware representation. On VP-WorldBench and existing 4D generation benchmarks, point supervision improves both video fidelity and 3D motion accuracy over a video-only counterpart, and in simulated and real-robot experiments, it also raises the manipulation success of the action-enabled model.

We present Fluid-Gen-Zero, a training-free framework for physics-aware fluid-object interaction video generation that decouples physical reasoning from appearance synthesis. Our key insight is to delegate motion dynamics to a physics simulator while preserving the appearance modeling capacity of pretrained video generators. We bridge these two domains through a two-level agentic workflow: generation-time planning, where a vision-language model (VLM) agent interprets intent and the simulation rollout to organize generation clips, and latent-space guidance, which injects simulation signals into denoising through region-aware latent wrapping. This plug-and-play design is compatible with current video foundation models. We further introduce a benchmark for fluid-object interaction video generation. Across Tora (CogVideoX-based), VACE and WanMove (Wan-based), Fluid-Gen-Zero consistently improves simulation alignment, reducing object trajectory error by 26.7%-81.5% and fluid fEPE (fluid flow endpoint error) by 67.9%-84.0%, while largely preserving perceptual quality. In a human preference study, raters favor Fluid-Gen-Zero in 55.1%-74.4% of same-backbone comparisons across three backbones, and in 90.4%-94.2% of comparisons against simulation-based methods. Code and data will be released upon acceptance.

We propose OPSD-V, an on-policy self-distillation paradigm for post-training few-step autoregressive (AR) video diffusion models. Existing few-step AR video generators can produce long videos with low latency, but still suffer from error accumulation and weakened motion dynamics during long autoregressive rollout. OPSD-V reduces long-horizon degradation while preserving the original few-step inference path. The key idea is to introduce real long-video data as temporal context during training and use it to provide dense trajectory-level supervision. Specifically, the student follows the exact inference-time rollout, generating each chunk conditioned on its own previously generated KV cache. In parallel, the teacher is evaluated at the same student-visited denoising states, but uses a cleaner AR-consistent temporal cache in which older history can be replaced by real-video context. This provides dense denoising-level corrective targets under on-policy AR cache dynamics, without changing the sampler, number of denoising steps, or inference-time cache mechanism. We apply OPSD-V to representative few-step AR video models, including Self-Forcing and LongLive. Experiments show consistent improvements in visual quality, motion dynamics, and VBenchLong scores. A user study with 10 participants comparing 20 video pairs shows that OPSD-V is preferred over the base models in 66.0% of overall-preference judgments (82.5% excluding ties).

Current end-to-end autonomous driving systems are fundamentally limited by a mismatch between temporal causal reasoning and global trajectory consistency. Autoregressive (AR) models capture interaction-aware temporal dependencies via causal factorization, but their step-wise decoding leads to error accumulation and suboptimal global structure. In contrast, diffusion models optimize trajectories globally but lack explicit causal constraints, making them unreliable in interactive and safety-critical scenarios. This dichotomy reveals a deeper issue: existing methods treat causal modeling and global optimization as separate paradigms, without a principled way to unify them within a single trajectory distribution. To address this, we propose ChainFlow-VLA, which unifies causal generation and global refinement within a unified probabilistic framework. We formulate planning as a mixture over AR-induced modes and learn Vision-Language Model (VLM)-conditioned residual distributions over these modes. An autoregressive generator (Chain) produces a discrete set of causal trajectory modes, followed by a diffusion-based refiner (Flow) that leverages VLM hidden states as semantic priors to perform mode-conditioned correction in residual space while preserving causal structure. This straightforward conditioning seamlessly injects high-level scene understanding into fine-grained trajectory adjustments. Experiments demonstrate that ChainFlow-VLA achieves robust planning in ambiguous and long-tail scenarios, achieving a state-of-the-art score of 94.85 on the NAVSIM v1 leaderboard, matching human-level performance (94.8). Code will be available at https://github.com/AFARI-Research/ChainFlow-VLA.

World generative models are typically used through what they produce: a rendered future, a video-conditioned action, or latent context computed by a costly generative branch. We argue that their more reusable asset is the computation that constructs a future. As a generator transforms a corrupted future into a coherent trajectory, its intermediate states organize appearance, spatial layout, and interaction across levels of abstraction. Can this future-generative computation be internalized in a representation inferred from the present alone? We present Enfold, which transfers this computation into a representation predicted from the current visual context and language instruction. During training, multi-level states exposed as the generator processes the observed future supervise a current-only encoder. The learned representation is fed back to condition future generation and is read by task heads without allowing task gradients to reshape the encoder. At deployment, action prediction no longer executes the generator. Across LIBERO, RoboTwin2.0, and real-robot tasks, Enfold supports strong control while reducing action latency by 3.7times relative to Fast--WAM, Enfold-Flash reaches 10.1times. Representation analyses show that it suppresses nuisance variation and preferentially captures changes that emerge over longer horizons. When the current scene is altered by human intervention, both the generated continuation and the executed actions adapt, which is inconsistent with fixed trajectory replay. These results recast a world generator as a source of predictive control representations: its future need not be materialized at every step if its internal structure can be enfolded into the present.

We present Datarus-R1-14B, a 14 B-parameter open-weights language model fine-tuned from Qwen 2.5-14B-Instruct to act as a virtual data analyst and graduate-level problem solver. Datarus is trained not on isolated question-answer pairs but on full analytical trajectories including reasoning steps, code execution, error traces, self-corrections, and final conclusions, all captured in a ReAct-style notebook format spanning finance, medicine, numerical analysis, and other quantitative domains. Our training pipeline combines (i) a trajectory-centric synthetic data generator that yielded 144 000 tagged notebook episodes, (ii) a dual-reward framework blending a lightweight tag-based structural signal with a Hierarchical Reward Model (HRM) that scores both single-step soundness and end-to-end coherence, and (iii) a memory-optimized implementation of Group Relative Policy Optimization (GRPO) featuring KV-cache reuse, sequential generation, and reference-model sharding. A cosine curriculum smoothly shifts emphasis from structural fidelity to semantic depth, reducing the format collapse and verbosity that often plague RL-aligned LLMs. A central design choice in Datarus is it dual reasoning interface. In agentic mode the model produces ReAct-tagged steps that invoke Python tools to execute real code; in reflection mode it outputs compact Chain-of-Thought (CoT) traces delimited by <think> and <answer> tags. On demanding postgraduate-level problems, Datarus exhibits an "AHA-moment" pattern: it sketches hypotheses, revises them once or twice, and converges avoiding the circular, token-inflating loops common to contemporary systems. Across standard public benchmarks Datarus surpasses similar size models and even reaches the level of larger reasoning models such as QwQ-32B achieving up to 30% higher accuracy on AIME 2024/2025 and LiveCodeBench while emitting 18-49% fewer tokens per solution.

Recent image generators have demonstrated impressive photorealism and instruction-following capabilities in single-image generation and editing. However, constrained by their architectures, they cannot achieve interleaved generation (text-image sequence), which has crucial applications in visual narratives, guidance, and embodied manipulation. Even the latest open-source Unified Multimodal Models (UMMs) exhibit limited performance in this regard. In this paper, we introduce InterleaveThinker, the first multi-agent pipeline designed to endow any existing image generator with interleaved generation capabilities. Specifically, we employ a planner agent to organize the image-text input sequence, instructing the image generator on the required execution at each step. Subsequently, we introduce a critic agent to evaluate the generator's outputs, identify samples that deviate from the planned instructions, and refine the instructions for regeneration. To implement this pipeline, we construct the Interleave-Planner-SFT-80k and Interleave-Critic-SFT-112k to perform a format cold-start. Then we develop Interleave-Critic-RL-13k to reinforce the step-wise instruction correction capability within a generation trajectory using GRPO. Since a single interleaved generation trajectory may involve over 25 generator calls, optimizing the entire trajectory is computationally impractical. Therefore, we propose accuracy reward and step-wise reward, allowing single-step RL to effectively guide the entire generation trajectory. The results show that InterleaveThinker improves performance across various image generators. On interleaved generation benchmarks, it achieves performance comparable to Nano Banana and GPT-5. Surprisingly, it also significantly enhances the base model on reasoning-based benchmarks; for example, on 4-step FLUX.2-klein, we observe substantial gains on WISE and RISE.

Diffusion models have achieved remarkable generation quality, but they suffer from significant inference cost due to their reliance on multiple sequential denoising steps, motivating recent efforts to distill this inference process into a few-step regime. However, existing distillation methods typically approximate the teacher trajectory by using linear shortcuts, which makes it difficult to match its constantly changing tangent directions as velocities evolve across timesteps, thereby leading to quality degradation. To address this limitation, we propose ArcFlow, a few-step distillation framework that explicitly employs non-linear flow trajectories to approximate pre-trained teacher trajectories. Concretely, ArcFlow parameterizes the velocity field underlying the inference trajectory as a mixture of continuous momentum processes. This enables ArcFlow to capture velocity evolution and extrapolate coherent velocities to form a continuous non-linear trajectory within each denoising step. Importantly, this parameterization admits an analytical integration of this non-linear trajectory, which circumvents numerical discretization errors and results in high-precision approximation of the teacher trajectory. To train this parameterization into a few-step generator, we implement ArcFlow via trajectory distillation on pre-trained teacher models using lightweight adapters. This strategy ensures fast, stable convergence while preserving generative diversity and quality. Built on large-scale models (Qwen-Image-20B and FLUX.1-dev), ArcFlow only fine-tunes on less than 5% of original parameters and achieves a 40x speedup with 2 NFEs over the original multi-step teachers without significant quality degradation. Experiments on benchmarks show the effectiveness of ArcFlow both qualitatively and quantitatively.

Aligning streaming autoregressive (AR) video generators with human preferences is challenging. Existing reinforcement learning methods predominantly rely on noise-based exploration and SDE-based surrogate policies that are mismatched to the deterministic ODE dynamics of distilled AR models, and tend to perturb low-level appearance rather than the high-level semantic storyline progression critical for long-horizon coherence. To address these limitations, we present KVPO, an ODE-native online Group Relative Policy Optimization (GRPO) framework for aligning streaming video generators. For diversity exploration, KVPO introduces a causal-semantic exploration paradigm that relocates the source of variation from stochastic noise to the historical KV cache. By stochastically routing historical KV entries, it constructs semantically diverse generation branches that remain strictly on the data manifold. For policy modeling, KVPO introduces a velocity-field surrogate policy based on Trajectory Velocity Energy (TVE), which quantifies branch likelihood in flow-matching velocity space and yields a reward-weighted contrastive objective fully consistent with the native ODE formulation. Experiments on multiple distilled AR video generators demonstrate consistent gains in visual quality, motion quality, and text-video alignment across both single-prompt short-video and multi-prompt long-video settings.

Diffusion models often yield highly curved trajectories and noisy score targets due to an uninformative, memoryless forward process that induces independent data-noise coupling. We propose Adjoint Schrödinger Bridge Matching (ASBM), a generative modeling framework that recovers optimal trajectories in high dimensions via two stages. First, we view the Schrödinger Bridge (SB) forward dynamic as a coupling construction problem and learn it through a data-to-energy sampling perspective that transports data to an energy-defined prior. Then, we learn the backward generative dynamic with a simple matching loss supervised by the induced optimal coupling. By operating in a non-memoryless regime, ASBM produces significantly straighter and more efficient sampling paths. Compared to prior works, ASBM scales to high-dimensional data with notably improved stability and efficiency. Extensive experiments on image generation show that ASBM improves fidelity with fewer sampling steps. We further showcase the effectiveness of our optimal trajectory via distillation to a one-step generator.

Reinforcement learning can align visual generators with reward signals beyond their pretraining objectives, but existing score-function methods typically introduce stochasticity by perturbing the reverse denoising trajectory, leading to costly rollout-based optimization. We instead ask whether stochastic exploration can be introduced inside the generator while preserving its original sampler. Routing Policy Optimization (RPO) answers this question by turning attention routing into a stochastic exploration action. At a few selected denoising levels, each query block keeps its own block and samples further key blocks in proportion to the generator's native attention mass, or keeps dense attention. The sampled route perturbs the velocity of that transition, and a Gaussian likelihood around the dense velocity scores the perturbation with a score-function objective. RPO further uses a controlled two-rollout estimator: two rollouts share the same prompt, initial latent, routed denoising levels, and dense anchor layers, differing only in their sampled attention routes. Their reward difference provides an advantage signal for the routed transitions. Because the likelihood differentiates the dense velocity itself, the learned updates remain effective after routing is removed. At inference, RPO restores dense attention and retains the original deterministic sampler. Experiments on text-to-image and text-to-video generation show that RPO improves generation quality while achieving nearly 4x higher training efficiency than Flow-GRPO-style methods. Please see our project page at https://velox-world.com/rpo for visual results.

Video generation models have shown strong potential as world models for autonomous driving simulation. However, existing approaches are primarily trained on real-world driving datasets, which mostly contain natural and safe driving scenarios. As a result, current models often fail when conditioned on challenging or counterfactual trajectories-such as imperfect trajectories generated by simulators or planning systems-producing videos with severe physical inconsistencies and artifacts. To address this limitation, we propose PhyGenesis, a world model designed to generate driving videos with high visual fidelity and strong physical consistency. Our framework consists of two key components: (1) a physical condition generator that transforms potentially invalid trajectory inputs into physically plausible conditions, and (2) a physics-enhanced video generator that produces high-fidelity multi-view driving videos under these conditions. To effectively train these components, we construct a large-scale, physics-rich heterogeneous dataset. Specifically, in addition to real-world driving videos, we generate diverse challenging driving scenarios using the CARLA simulator, from which we derive supervision signals that guide the model to learn physically grounded dynamics under extreme conditions. This challenging-trajectory learning strategy enables trajectory correction and promotes physically consistent video generation. Extensive experiments demonstrate that PhyGenesis consistently outperforms state-of-the-art methods, especially on challenging trajectories. Our project page is available at: https://wm-research.github.io/PhyGenesis/.

Training computer-use agents (CUAs) -- models that interact with graphical desktops through screenshots and keyboard/mouse actions -- requires large-scale, diverse trajectory data collected in full desktop environments. The largest public resource, AgentNet (22.5K human trajectories), leads to negative transfer when used for supervised fine-tuning (SFT): continuing training UI-TARS 7B on AgentNet causes OSWorld success rate to fall from 26.3% to 8-10%. We present ProCUA-SFT, a dataset of 3.1M step-level SFT samples distilled from 93K synthetic trajectories across 2,484 application combinations. The dataset is produced by a fully automated pipeline that (i) synthesizes grounded tasks on live desktops seeded with real-world content -- 912 spreadsheets from SpreadsheetBench, approximately 10K permissively-licensed presentations from Zenodo10K, and multi-application OSWorld configs -- and (ii) verifies each task's feasibility through binary precondition checking before rollout. A single VLM (Kimi-K2.5) serves as goal generator, precondition judge, and trajectory executor, eliminating planner-actor capability gaps. Each trajectory is expanded into step-prefix samples that exactly reproduce the context layout seen at inference time. Fine-tuning UI-TARS 7B on ProCUA-SFT for one epoch yields 45.0% on OSWorld -- an 18.7 percentage-point improvement over the base model and over 35% above AgentNet-trained counterparts. A subset of ProCUA was incorporated into the training data for the Nemotron 3 Nano Omni model, contributing to its computer-use capabilities.

We present a compact geometry-native latent space as a shared foundation for perception and generation. Visual generators can produce photorealistic frames without preserving a consistent 3D scene. We argue that this is not only a modeling problem but also a representation problem: generators typically evolve appearance-centric latents, while perception models recover geometry in a semantically rich space that encodes cross-view structure. Rather than adding geometry as another output, we reparameterize a geometry foundation model's features into a compact latent space for generation. We realize this shift with the geometry-native autoencoder (GAE), whose latent is jointly decodable to appearance, depth, cameras, and point maps. With this state, a standard conditional flow supports diverse generation tasks. In controlled comparisons that hold the generator and training protocol fixed, replacing the latent with GAE improves both visual quality and independently measured 3D coherence: FVD falls by 12.7% and 23.1% on RealEstate10K and DL3DV, and camera-trajectory error is halved on RealEstate10K. Together, these results show that the latent space is central to geometry-consistent generation and can serve as a shared interface between perception and generation.

We consider the problem of forecasting motion from a single image, i.e., predicting how objects in the world are likely to move, without the ability to observe other parameters such as the object velocities or the forces applied to them. We formulate this task as conditional generation of dense trajectory grids with a model that closely follows the architecture of modern video generators but outputs motion trajectories instead of pixels. This approach captures scene-wide dynamics and uncertainty, yielding more accurate and diverse predictions than prior regressors and generators. We extensively evaluate our method on simulated data, demonstrate its effectiveness on downstream applications such as robotics, and show promising accuracy on real-world intuitive physics datasets. Although recent state-of-the-art video generators are often regarded as world models, we show that they struggle with forecasting motion from a single image, even in simple physical scenarios such as falling blocks or mechanical object interactions, despite fine-tuning on such data. We show that this limitation arises from the overhead of generating pixels rather than directly modeling motion.

Large vision-language models have shown strong progress in UI-to-code generation, yet their test-time self-evolution remains unstable. We first identify a fundamental obstacle, termed visual repair coupling: a local code edit may propagate through layout, style, and component dependencies, correcting one visual mismatch while degrading regions that were previously faithful. To address this issue, we present RubSE, a Rubric-guided Self-Evolution framework that uses rubrics to represent visual feedback as a structured visual-repair context. At each refinement round, RubSE generates typed candidate rubrics, selects one prioritized repair target, and stores previously selected rubrics as history, thereby steering each revision toward a well-scoped visual repair while discouraging repeated or over-broad changes. Evaluations across six VLMs and three UI-to-code benchmarks demonstrate that RubSE substantially outperforms naïve self-evolution in final-round and best-round settings, achieving more stable refinement trajectories and a higher trajectory-level performance ceiling. Further analysis shows that RubSE mitigates trajectory collapse by improving recovery from severe visual regressions, and that stronger rubric generators can transfer effective visual-repair guidance to weaker code improvers.

World models have become crucial for autonomous driving, as they learn how scenarios evolve over time to address the long-tail challenges of the real world. However, current approaches relegate world models to limited roles: they operate within ostensibly unified architectures that still keep world prediction and motion planning as decoupled processes. To bridge this gap, we propose DriveLaW, a novel paradigm that unifies video generation and motion planning. By directly injecting the latent representation from its video generator into the planner, DriveLaW ensures inherent consistency between high-fidelity future generation and reliable trajectory planning. Specifically, DriveLaW consists of two core components: DriveLaW-Video, our powerful world model that generates high-fidelity forecasting with expressive latent representations, and DriveLaW-Act, a diffusion planner that generates consistent and reliable trajectories from the latent of DriveLaW-Video, with both components optimized by a three-stage progressive training strategy. The power of our unified paradigm is demonstrated by new state-of-the-art results across both tasks. DriveLaW not only advances video prediction significantly, surpassing best-performing work by 33.3% in FID and 1.8% in FVD, but also achieves a new record on the NAVSIM planning benchmark.

Modern text-to-image (T2I) systems can be improved without modifying generator parameters by adapting the external system around frozen generators. However, existing approaches typically optimize a predefined dimension, such as prompts, routing, or workflows, restricting the space in which generation failures can be corrected. Allowing multiple generator-external responsibilities to evolve provides a broader adaptation space, but introduces a new challenge: visual feedback reveals what failed, but not where persistent evolution should occur or how this space should be explored efficiently. We introduce EvoGen-Harness, a generator-agnostic framework for multi-responsibility image-generation harness evolution, together with Trace (Trajectory-Relative Attribution and Coordinated Evolution). Trace aggregates evidence across stochastic executions, uses failure attribution as a search prior to focus candidate updates, and progressively re-attributes residual failures to coordinate evolution across responsibilities, while No-Patch and held-out validation prevent unnecessary or harmful updates. Across GenEval2, T2I-CompBench++, and WISE, EvoGen-Harness improves over the strongest evaluated baselines by +0.2633, +0.0720, and +0.0752, respectively, while achieving 87.9-91.4% attribution recall, 94.8% No-Patch accuracy, and only 1.9% regression. These results demonstrate that attribution-guided multi-responsibility evolution can substantially enhance frozen T2I systems beyond single-dimension adaptation.

Generative video world models can now synthesize open-ended environments that agents can navigate and interact with in simple ways. Yet open-ended generation does not imply full interaction: as a generated world expands, newly created content through navigation should expand what the agent can act upon, and as the agent changes the world, those changes should become persistent parts of the environment rather than transient visual effects. We characterize these two requirements as Open-World Interactivity, where newly generated or encountered entities are incorporated into the actionable world, and Persistent State, where interaction outcomes are committed to the world state and continue to influence subsequent observations and interactions. We present Oneira, an interactive video world model that closes the loop between generation and interaction through an explicit, extensible world state managed by a coding agent. Given the current observation and an action or high-level goal, the agent reads the world state, grounds the relevant entities, plans the interaction, and writes its outcome back into a world state table. When exploration reveals new objects, the agent incorporates them from generated observations, allowing the interaction space to expand with the generated world. Meanwhile, previously induced state changes are carried across video segments, making the consequences of interaction persistent parts of subsequent world evolution. The updated world state is rendered along the camera action trajectory into a coarse conditioning video, from which a video generator fills in the appearance, motion, and interaction details not represented in the state. Experiments show that Oneira enables direct and consistent interaction with newly generated objects, while preserving the effects of prior interactions over long horizons. Project page: https://madaoer.github.io/projects/oneira

We formalize action emergence as a target capability for end-to-end autonomous driving: the ability to generate physically feasible, semantically appropriate, and safety-compliant actions in arbitrary, long-tail traffic scenes through scene-conditioned reasoning rather than retrieval or interpolation of learned scene-action mappings. We show that previous paradigms cannot deliver action emergence: autoregressive trajectory decoders collapse the inherently multimodal future into a single averaged output, while diffusion and flow-matching generators express multimodality but are not steerable by reasoned intent. We propose Streaming Intent as a concrete way to approach action emergence: a mechanism that makes driving intent (i) semantically streamed through a continuous chain-of-thought that causally derives the intent from scene understanding, and (ii) temporally streamed across clips so that intent commitments remain coherent along the driving horizon. We realize Streaming Intent in a VLA model we call SI (Streaming Intent). SI autoregressively decodes a four-step chain-of-thought and emits an intent token; the decoded intent then drives classifier-free guidance (CFG) on a flow-matching action head, requiring only two denoising steps to generate the final trajectory. On the Waymo End-to-End benchmark, SI achieves competitive aggregate performance, with an RFS score of 7.96 on the validation set and 7.74 on the test set. Beyond aggregate metrics, the model demonstrates -- to our knowledge for the first time in a fully end-to-end VLA -- intent-faithful controllability: for a fixed scene, varying the intent class at inference yields qualitatively distinct yet consistently high-quality plans, arising purely from data-driven learning without any pre-built trajectory bank or hand-coded post-hoc selector.

A robot needs a world model that predicts how its actions will change the scene and a policy that chooses those actions. Models are usually built and evaluated for only one of these roles, and every robot records its actions in its own format. We ask whether one robot world model can serve both roles across different bodies, and what makes this work. We present GreenWAM, a world foundation model for robotics, together with the recipe that produces it: (1) a shared anatomical action space that describes 20 robot families, from bimanual arms to dexterous humanoids, in common joint coordinates; (2) joint training on these families in visual, action-conditioned and world-action modes; and (3) policies that split an action expert off the generator. As a world model, GreenWAM attains top-tier trajectory, depth and 3D accuracy on WorldArena 1.0, ahead of every world-action model and video generator in our comparison. As a policy, it scores among the top entries of the RoboTwin 2.0 leaderboard, reaches the highest zero-shot LIBERO-plus success among the compared methods and is competitive with dedicated vision-language-action and world-action policies on CALVIN and LIBERO. We further adapt GreenWAM to a real humanoid, where it succeeds more often than policies adapted from π_{0.5} and from Cosmos 3 Edge, and distill it into a single-step policy for real-time control. Controlled experiments yield three findings: robot specialization improves world prediction and control together; an action expert helps when split off at the start of adaptation; and keeping world-model modes during policy adaptation preserves robustness to scene changes.

Production-ready audio-driven avatar generation requires efficient inference without sacrificing fidelity or motion expressiveness. However, existing acceleration methods often compromise quality through restrictive architectural choices, such as causal attention and short temporal horizons, or by reducing model capacity and resolution. Without such compromises, we propose AptAvatar, a 14B-parameter long-form audio-driven avatar generation framework that delivers fast and expressive inference. For efficiency in production-level applications, AptAvatar addresses the extreme two-step generation challenge. To bridge the gap between the multi-step teacher model and the two-step student model, we introduce Endpoint-Anchored Distribution Distillation. It augments vanilla distribution matching with a dedicated Anchor Score Estimator trained on the trajectory-endpoint distribution defined from a frozen pretrained 4-step bridge generator. This provides an attainable endpoint-level anchor for the evolving two-step student. To improve long-horizon consistency, we further introduce Self-Generated History Replay, which reuses cached outputs from earlier generator checkpoints as history conditions during chunk-wise training. This approximates inference-time conditioning on self-generated histories without costly online rollouts, mitigating quality degradation from accumulated history errors. Extensive experiments demonstrate that AptAvatar generates vivid 720p long-form avatar videos with only 2 NFEs, achieving a 60x speedup while preserving visual fidelity and long-horizon identity. Code is available at https://github.com/TaoLiveAIGC/AptAvatar

Recent visual generators produce high-fidelity images yet often violate physical consistency under ego-motion, limiting their use for spatial reasoning and embodied planning. Existing benchmarks largely focus on isolated images or single-step quality, leaving this challenge underexplored. We introduce EgoGenEval, a geometry-grounded, pose-free benchmark designed to evaluate the physical consistency of visual generators under ego-motion, and organize our study into two parts. (1) EgoGenEval contains 1,400 cases and 2,360 target views spanning single-step and multi-step ego-motion. It separately measures Camera Motion Grounding (CMG) and Scene State Preservation (SSP), with both metrics validated against blinded human judgments. Evaluating 16 pose-free generators together with two pose-conditioned references reveals that current models struggle to execute camera motion while maintaining scene state, and that no system performs well on both axes at once. (2) To examine whether benchmark-derived data can improve these capabilities, we build EgoGen-Train from the same geometry-grounded pipeline and run controlled SFT studies. These show that pairwise supervision does not reliably improve camera-motion grounding and scene-state preservation together: even at the full training pool and the longest budget, scene preservation gains a fraction of what camera motion does. This points to the pairwise teacher-forced objective itself as the binding constraint, motivating a trajectory-centric paradigm that couples self-conditioned rollouts with explicit pose and visibility supervision.

Repurposing large vision-language models (LVLMs) as computer use agents (CUAs) has led to substantial breakthroughs, primarily driven by human-labeled data. However, these models often struggle with novel and specialized software, particularly in scenarios lacking human annotations. To address this challenge, we propose SEAgent, an agentic self-evolving framework enabling CUAs to autonomously evolve through interactions with unfamiliar software. Specifically, SEAgent empowers computer-use agents to autonomously master novel software environments via experiential learning, where agents explore new software, learn through iterative trial-and-error, and progressively tackle auto-generated tasks organized from simple to complex. To achieve this goal, we design a World State Model for step-wise trajectory assessment, along with a Curriculum Generator that generates increasingly diverse and challenging tasks. The agent's policy is updated through experiential learning, comprised of adversarial imitation of failure actions and Group Relative Policy Optimization (GRPO) on successful ones. Furthermore, we introduce a specialist-to-generalist training strategy that integrates individual experiential insights from specialist agents, facilitating the development of a stronger generalist CUA capable of continuous autonomous evolution. This unified agent ultimately achieves performance surpassing ensembles of individual specialist agents on their specialized software. We validate the effectiveness of SEAgent across five novel software environments within OS-World. Our approach achieves a significant improvement of 23.2% in success rate, from 11.3% to 34.5%, over a competitive open-source CUA, i.e., UI-TARS.

Agents based on large language models have recently shown strong potential on real-world software engineering (SWE) tasks that require long-horizon interaction with repository-scale codebases. However, most existing agents rely on append-only context maintenance or passively triggered compression heuristics, which often lead to context explosion, semantic drift, and degraded reasoning in long-running interactions. We propose CAT, a new context management paradigm that elevates context maintenance to a callable tool integrated into the decision-making process of agents. CAT formalizes a structured context workspace consisting of stable task semantics, condensed long-term memory, and high-fidelity short-term interactions, and enables agents to proactively compress historical trajectories into actionable summaries at appropriate milestones. To support context management for SWE-agents, we propose a trajectory-level supervision framework, CAT-GENERATOR, based on an offline data construction pipeline that injects context-management actions into complete interaction trajectories. Using this framework, we train a context-aware model, SWE-Compressor. Experiments on SWE-Bench-Verified demonstrate that SWE-Compressor reaches a 57.6% solved rate and significantly outperforms ReAct-based agents and static compression baselines, while maintaining stable and scalable long-horizon reasoning under a bounded context budget.

We present ABot-3DWorld 0, a universal multimodal 3D world model that turns text, image, and video inputs into high-fidelity, explorable 3D worlds. At the heart of our framework is a unified Spatial Generative Primitive (SGP), a compact tuple of a high-quality panorama and a spatial point cloud that delivers an efficient description of any 3D space. Multimodal inputs are first lifted into this primitive; a 3D-consistent panoramic video generator then explores the primitive along a planned trajectory; finally, our panoramic video reconstruction engine converts the generated video into a clean, photorealistic 3D Gaussian Splatting (3DGS) world. This pipeline covers two regimes: rich inputs (multi-view sets, casual video) are lifted into the SGP through a geometry-rigorous recovery that mirrors the observed scene, while a single image or sentence is completed generatively into a creative world. The result is one low-barrier engine for general 3D content creation that further anchors generated worlds to geographic points of interest, enabling map-native spatial exploration at consumer scale. Experiments show that ABot-3DWorld 0 sets the state of the art among open-source methods and demonstrates stronger scene fidelity than Marble under rich multimodal inputs.

World engines aim to synthesize long, 3D-consistent videos that support interactive exploration of a scene under user-controlled camera motion. However, existing systems struggle under aggressive 6-DoF trajectories and complex outdoor layouts: they lose long-range geometric coherence, deviate from the target path, or collapse into overly conservative motion. To this end, we introduce Captain Safari, a pose-conditioned world engine that generates videos by retrieving from a persistent world memory. Given a camera path, our method maintains a dynamic local memory and uses a retriever to fetch pose-aligned world tokens, which then condition video generation along the trajectory. This design enables the model to maintain stable 3D structure while accurately executing challenging camera maneuvers. To evaluate this setting, we curate OpenSafari, a new in-the-wild FPV dataset containing high-dynamic drone videos with verified camera trajectories, constructed through a multi-stage geometric and kinematic validation pipeline. Across video quality, 3D consistency, and trajectory following, Captain Safari substantially outperforms state-of-the-art camera-controlled generators. It reduces MEt3R from 0.3703 to 0.3690, improves AUC@30 from 0.181 to 0.200, and yields substantially lower FVD than all camera-controlled baselines. More importantly, in a 50-participant, 5-way human study where annotators select the best result among five anonymized models, 67.6% of preferences favor our method across all axes. Our results demonstrate that pose-conditioned world memory is a powerful mechanism for long-horizon, controllable video generation and provide OpenSafari as a challenging new benchmark for future world-engine research.

Observing that the key for robotic action planning is to understand the target-object motion when its associated part is manipulated by the end effector, we propose to generate the 3D object-part scene flow and extract its transformations to solve the action trajectories for diverse embodiments. The advantage of our approach is that it derives the robot action explicitly from object motion prediction, yielding a more robust policy by understanding the object motions. Also, beyond policies trained on embodiment-centric data, our method is embodiment-agnostic, generalizable across diverse embodiments, and being able to learn from human demonstrations. Our method comprises three components: an object-part predictor to locate the part for the end effector to manipulate, an RGBD video generator to predict future RGBD videos, and a trajectory planner to extract embodiment-agnostic transformation sequences and solve the trajectory for diverse embodiments. Trained on videos even without trajectory data, our method still outperforms existing works significantly by 27.7% and 26.2% on the prevailing virtual environments MetaWorld and Franka-Kitchen, respectively. Furthermore, we conducted real-world experiments, showing that our policy, trained only with human demonstration, can be deployed to various embodiments.

Creating high-quality data for training robust language-instructed agents is a long-lasting challenge in embodied AI. In this paper, we introduce a Self-Refining Data Flywheel (SRDF) that generates high-quality and large-scale navigational instruction-trajectory pairs by iteratively refining the data pool through the collaboration between two models, the instruction generator and the navigator, without any human-in-the-loop annotation. Specifically, SRDF starts with using a base generator to create an initial data pool for training a base navigator, followed by applying the trained navigator to filter the data pool. This leads to higher-fidelity data to train a better generator, which can, in turn, produce higher-quality data for training the next-round navigator. Such a flywheel establishes a data self-refining process, yielding a continuously improved and highly effective dataset for large-scale language-guided navigation learning. Our experiments demonstrate that after several flywheel rounds, the navigator elevates the performance boundary from 70% to 78% SPL on the classic R2R test set, surpassing human performance (76%) for the first time. Meanwhile, this process results in a superior generator, evidenced by a SPICE increase from 23.5 to 26.2, better than all previous VLN instruction generation methods. Finally, we demonstrate the scalability of our method through increasing environment and instruction diversity, and the generalization ability of our pre-trained navigator across various downstream navigation tasks, surpassing state-of-the-art methods by a large margin in all cases.

Most existing robotic manipulation benchmarks focus on simplified tabletop scenarios, typically involving a stationary robotic arm interacting with various objects on a flat surface. To address this limitation, we introduce RoboBenchMart, a more challenging and realistic benchmark designed for dark store environments, where robots must perform complex manipulation tasks with diverse grocery items. This setting presents significant challenges, including dense object clutter and varied spatial configurations -- with items positioned at different heights, depths, and in close proximity. By targeting the retail domain, our benchmark addresses a setting with strong potential for near-term automation impact. We demonstrate that current state-of-the-art generalist models struggle to solve even common retail tasks. To support further research, we release the RoboBenchMart suite, which includes a procedural store layout generator, a trajectory generation pipeline, evaluation tools and fine-tuned baseline models.

Text-to-motion generation has advanced rapidly, yet two challenges persist. First, existing motion autoencoders compress each frame into a single monolithic latent vector, entangling trajectory and per-joint rotations in an unstructured representation that downstream generators struggle to model faithfully. Second, text-to-motion, pose-conditioned generation, and long-horizon sequential synthesis typically require separate models or task-specific mechanisms, with autoregressive approaches suffering from severe error accumulation over extended rollouts. We present PRISM, addressing each challenge with a dedicated contribution. (1) A joint-factorized motion latent space: each body joint occupies its own token, forming a structured 2D grid (time joints) compressed by a causal VAE with forward-kinematics supervision. This simple change to the latent space -- without modifying the generator -- substantially improves generation quality, revealing that latent space design has been an underestimated bottleneck. (2) Noise-free condition injection: each latent token carries its own timestep embedding, allowing conditioning frames to be injected as clean tokens (timestep0) while the remaining tokens are denoised. This unifies text-to-motion and pose-conditioned generation in a single model, and directly enables autoregressive segment chaining for streaming synthesis. Self-forcing training further suppresses drift in long rollouts. With these two components, we train a single motion generation foundation model that seamlessly handles text-to-motion, pose-conditioned generation, autoregressive sequential generation, and narrative motion composition, achieving state-of-the-art on HumanML3D, MotionHub, BABEL, and a 50-scenario user study.

Vision-Language-Action (VLA) models inherit semantic grounding from large-scale pretraining and perform competently across in-distribution manipulation tasks. This grounding, however, is built on static image-text pairs, whereas manipulation is a continuous, contact-rich process whose dynamics this pretraining cannot capture. We present World Pilot, a VLA framework that augments the policy with priors from a World-Action Model (WAM), routed into the decision chain through two complementary pathways. Latent Steering conditions the perception layer on a scene-evolution latent, and Action Steering supplies an anticipated trajectory as a motion prior to the action generator. Together the two priors equip the VLA with an anticipated view of the scene and a trajectory-level motion hint alongside its semantic conditioning, and the scene-evolution prior remains effective even when supplied by a video-pretrained world model that has not been action-post-trained. World Pilot attains a state-of-the-art Total success rate of 84.7% on the LIBERO-Plus zero-shot OOD benchmark and the highest success rate on every real-robot setting across four manipulation tasks, with the largest margins under shifts in viewpoint, geometry, deformable state, and pose. Project Website: https://world-pilot.github.io/

Large language models are increasingly deployed as agents for long-horizon tasks, yet their performance is shaped not only by model capability and environment design, but also by the harness that mediates agent--environment interaction. Existing harnesses are largely manually engineered, making them difficult to scale as trajectories grow longer and interactions become more complex. In this work, we ask whether harness can be generated by a learnable plug-in module that can be trained in an end-to-end fashion. We introduce HarnessBridge, a lightweight learnable harness controller that parameterizes the agent--environment interface as a bidirectional projection. HarnessBridge learns two bidirectional projections: observation projection, which distills raw trajectories into compact, decision-relevant states, and action projection, which converts proposed actions into executable transitions or trajectory-grounded rejections. We train HarnessBridge on a harness supervision dataset via unified instruction tuning. On Terminal-Bench~2.0 and SWE-bench Verified, HarnessBridge matches or surpasses strong specialized harnesses while substantially reducing token usage and trajectory length, and generalizes from smaller generators to larger commercial models.

Text-to-music systems produce increasingly convincing audio, yet evaluation reveals little about whether the result matches user intent. A global text-audio relevance score can overlook the implicit intent in underspecified prompts and mask failures in specific requirements, such as instrumentation, structure, rhythm, or mood progression. To bridge this gap, we formulate text-to-music intent alignment as satisfying a per-request rubric of independently verifiable items covering both a request's explicit requirements and its implied musical intent. Scoring items individually makes evaluation diagnostic by intent source and musical dimension, rather than a single opaque score. We instantiate this as MuRA-Bench, a benchmark of real-world platform requests curated by music experts. We further propose MIRA (Musical Intent Refinement Agent), a test-time agent that first grounds a request's intent into rubrics, then searches over prompt revisions for a black-box generator under a bounded budget, iteratively generating music, verifying it against the rubrics, and using this feedback to guide a trajectory-aware tree search. Experiments across open-source and commercial backends show that MIRA improves intent alignment, enabling an open-source generator to achieve performance comparable to representative commercial systems (e.g. Suno and Mureka). Project page: https://mirareview.github.io/.

Generative video editing has enabled several intuitive editing operations for short video clips that would previously have been difficult to achieve, especially for non-expert editors. Existing methods focus on prescribing an object's 3D or 2D motion trajectory in a video, or on altering the appearance of an object or a scene, while preserving both the video's plausibility and identity. Yet a method to move an object's 3D motion trajectory in a video, i.e., moving an object while preserving its relative 3D motion, is currently still missing. The main challenge lies in obtaining paired video data for this scenario. Previous methods typically rely on clever data generation approaches to construct plausible paired data from unpaired videos, but this approach fails if one of the videos in a pair can not easily be constructed from the other. Instead, we introduce TrajectoryAtlas, a new data generation pipeline for large-scale synthetic paired video data and a video generator TrajectoryMover fine-tuned with this data. We show that this successfully enables generative movement of object trajectories. Project page: https://chhatrekiran.github.io/trajectorymover

Trajectory generation has garnered significant attention from researchers in the field of spatio-temporal analysis, as it can generate substantial synthesized human mobility trajectories that enhance user privacy and alleviate data scarcity. However, existing trajectory generation methods often focus on improving trajectory generation quality from a singular perspective, lacking a comprehensive semantic understanding across various scales. Consequently, we are inspired to develop a HOlistic SEmantic Representation (HOSER) framework for navigational trajectory generation. Given an origin-and-destination (OD) pair and the starting time point of a latent trajectory, we first propose a Road Network Encoder to expand the receptive field of road- and zone-level semantics. Second, we design a Multi-Granularity Trajectory Encoder to integrate the spatio-temporal semantics of the generated trajectory at both the point and trajectory levels. Finally, we employ a Destination-Oriented Navigator to seamlessly integrate destination-oriented guidance. Extensive experiments on three real-world datasets demonstrate that HOSER outperforms state-of-the-art baselines by a significant margin. Moreover, the model's performance in few-shot learning and zero-shot learning scenarios further verifies the effectiveness of our holistic semantic representation.

Graphical User Interface (GUI) agents powered by Vision-Language Models (VLMs) have demonstrated human-like computer control capability. Despite their utility in advancing digital automation, a critical bottleneck persists: collecting high-quality trajectory data for training. Common practices for collecting such data rely on human supervision or synthetic data generation through executing pre-defined tasks, which are either resource-intensive or unable to guarantee data quality. Moreover, these methods suffer from limited data diversity and significant gaps between synthetic data and real-world environments. To address these challenges, we propose OS-Genesis, a novel GUI data synthesis pipeline that reverses the conventional trajectory collection process. Instead of relying on pre-defined tasks, OS-Genesis enables agents first to perceive environments and perform step-wise interactions, then retrospectively derive high-quality tasks to enable trajectory-level exploration. A trajectory reward model is then employed to ensure the quality of the generated trajectories. We demonstrate that training GUI agents with OS-Genesis significantly improves their performance on highly challenging online benchmarks. In-depth analysis further validates OS-Genesis's efficiency and its superior data quality and diversity compared to existing synthesis methods. Our codes, data, and checkpoints are available at https://qiushisun.github.io/OS-Genesis-Home/{OS-Genesis Homepage}.

Training deep research agents requires long-horizon trajectories that interleave search, evidence aggregation, and multi-step reasoning. However, existing data collection pipelines typically rely on proprietary web APIs, making large-scale trajectory synthesis costly, unstable, and difficult to reproduce. We present OpenResearcher, a reproducible pipeline that decouples one-time corpus bootstrapping from multi-turn trajectory synthesis and executes the search-and-browse loop entirely offline using three explicit browser primitives: search, open, and find, over a 15M-document corpus. Using GPT-OSS-120B as the teacher model, we synthesize over 97K trajectories, including a substantial long-horizon tail with 100+ tool calls. Supervised fine-tuning a 30B-A3B backbone on these trajectories achieves 54.8\% accuracy on BrowseComp-Plus, a +34.0 point improvement over the base model, while remaining competitive on BrowseComp, GAIA, and xbench-DeepSearch. Because the environment is offline and fully instrumented, it also enables controlled analysis, where our study reveals practical insights into deep research pipeline design, including data filtering strategies, agent configuration choices, and how retrieval success relates to final answer accuracy. We release the pipeline, synthesized trajectories, model checkpoints, and the offline search environment at https://github.com/TIGER-AI-Lab/OpenResearcher.

Generating trajectory data is among promising solutions to addressing privacy concerns, collection costs, and proprietary restrictions usually associated with human mobility analyses. However, existing trajectory generation methods are still in their infancy due to the inherent diversity and unpredictability of human activities, grappling with issues such as fidelity, flexibility, and generalizability. To overcome these obstacles, we propose ControlTraj, a Controllable Trajectory generation framework with the topology-constrained diffusion model. Distinct from prior approaches, ControlTraj utilizes a diffusion model to generate high-fidelity trajectories while integrating the structural constraints of road network topology to guide the geographical outcomes. Specifically, we develop a novel road segment autoencoder to extract fine-grained road segment embedding. The encoded features, along with trip attributes, are subsequently merged into the proposed geographic denoising UNet architecture, named GeoUNet, to synthesize geographic trajectories from white noise. Through experimentation across three real-world data settings, ControlTraj demonstrates its ability to produce human-directed, high-fidelity trajectory generation with adaptability to unexplored geographical contexts.

Urban mobility is naturally expressed both as trajectories in space and as natural-language descriptions of travel intent, constraints, and preferences. However, prior work rarely evaluates these two modalities together on the same real-world trajectories: trajectory modeling often stays geometry-centric, while language-centric mobility benchmarks frequently target route planning and tool use rather than fine-grained, verifiable alignment between text and the underlying route. We introduce TrajPrism, a multi-task benchmark for language-trajectory alignment that unifies (i) instruction-conditioned trajectory generation, (ii) language-driven semantic trajectory retrieval, and (iii) trajectory captioning, together with an evaluation protocol that measures trajectory fidelity, retrieval quality, and language groundedness. We construct TrajPrism by pairing real urban trajectories with judge-filtered language annotations generated under a four-dimensional travel-intent taxonomy. The benchmark contains 300K selected trajectories across Porto, San Francisco, and Beijing, yielding 2.1M task instances from three instruction variants, three retrieval queries, and one caption per trajectory. We further develop proof-of-concept models for each task: TrajAnchor for instruction-conditioned trajectory generation, TrajFuse for semantic trajectory retrieval, and TrajRap for trajectory captioning. These models instantiate the proposed tasks and show that geometry-only trajectory baselines leave a large gap on our protocol, especially where language is part of the input-output interface. We release TrajPrism with code and a reproducible annotation pipeline that is designed to be portable across cities, given compatible trajectory inputs and map resources.

Modeling human mobility is vital for extensive applications such as transportation planning and epidemic modeling. With the rise of the Artificial Intelligence Generated Content (AIGC) paradigm, recent works explore synthetic trajectory generation using autoregressive and diffusion models. While these methods show promise for generating single-day trajectories, they remain limited by inefficiencies in long-term generation (e.g., weekly trajectories) and a lack of explicit spatiotemporal multi-scale modeling. This study proposes Multi-Scale Spatio-Temporal AutoRegression (M-STAR), a new framework that generates long-term trajectories through a coarse-to-fine spatiotemporal prediction process. M-STAR combines a Multi-scale Spatiotemporal Tokenizer that encodes hierarchical mobility patterns with a Transformer-based decoder for next-scale autoregressive prediction. Experiments on two real-world datasets show that M-STAR outperforms existing methods in fidelity and significantly improves generation speed. The data and codes are available at https://github.com/YuxiaoLuo0013/M-STAR.

Advances in video generation have significantly improved the realism and quality of created scenes. This has fueled interest in developing intuitive tools that let users leverage video generation as world simulators. Text-to-video (T2V) generation is one such approach, enabling video creation from text descriptions only. Yet, due to the inherent ambiguity in texts and the limited temporal information offered by text prompts, researchers have explored additional control signals like trajectory-guided systems, for more accurate T2V generation. Nonetheless, methods to evaluate whether T2V models can generate realistic interactions between multiple objects are lacking. We introduce InTraGen, a pipeline for improved trajectory-based generation of object interaction scenarios. We propose 4 new datasets and a novel trajectory quality metric to evaluate the performance of the proposed InTraGen. To achieve object interaction, we introduce a multi-modal interaction encoding pipeline with an object ID injection mechanism that enriches object-environment interactions. Our results demonstrate improvements in both visual fidelity and quantitative performance. Code and datasets are available at https://github.com/insait-institute/InTraGen

Successful tool-use trajectories are not necessarily useful supervision. Even successful interactions may underrepresent multi-step dependencies or contain actions that are unjustified by the information visible to the agent at decision time. We identify two coupled requirements for effective trajectory supervision: compositional coverage, so that important observation-action dependencies are represented, and decision grounding, so that each supervised action is supported by the learner-visible interaction history. We introduce Trajectory2Gym, which constructs executable interactions around under-supported compositional structures and derives supervision only from grounded decisions in their realized executions. Structural-support selection allocates the resulting experience, while parent-normalized supervised fine-tuning preserves the semantic interaction as the unit of training weight. This reframes trajectory generation as the deliberate construction of learnable interaction experience, rather than the collection of successful trajectories. Across five Qwen3 scales, Trajectory2Gym improves Tau1, Tau2, and BFCL at every tested scale, increasing the equal-weight three-benchmark mean by 16.9-29.8 percentage points. The gains are strongest in stateful and multi-turn interaction, where later decisions depend on earlier observations and feedback. Our results suggest that scaling tool-use agents depends not only on collecting more successful trajectories, but on constructing interactions whose dependencies are represented and whose decisions are learnable from the agent's visible history.

Diffusion model has demonstrated remarkable capability in video generation, which further sparks interest in introducing trajectory control into the generation process. While existing works mainly focus on training-based methods (e.g., conditional adapter), we argue that diffusion model itself allows decent control over the generated content without requiring any training. In this study, we introduce a tuning-free framework to achieve trajectory-controllable video generation, by imposing guidance on both noise construction and attention computation. Specifically, 1) we first show several instructive phenomenons and analyze how initial noises influence the motion trajectory of generated content. 2) Subsequently, we propose FreeTraj, a tuning-free approach that enables trajectory control by modifying noise sampling and attention mechanisms. 3) Furthermore, we extend FreeTraj to facilitate longer and larger video generation with controllable trajectories. Equipped with these designs, users have the flexibility to provide trajectories manually or opt for trajectories automatically generated by the LLM trajectory planner. Extensive experiments validate the efficacy of our approach in enhancing the trajectory controllability of video diffusion models.

We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each problem instance by utilizing problem-specific parameters, allowing for finding solutions faster and of better quality. The diffusion models used in our approach are trained on randomly cut solution trajectories. These trajectories are created by solving randomly generated problem instances with a kinodynamic motion planner. Experimental results show significant improvements up to 30 percent in both computation time and solution quality across varying robot dynamics such as second-order unicycle or car with trailer.

We introduce a learning-guided motion planning framework that generates seed trajectories using a diffusion model for trajectory optimization. Given a workspace, our method approximates the configuration space (C-space) obstacles through an environment representation consisting of a sparse set of task-related key configurations, which is then used as a conditioning input to the diffusion model. The diffusion model integrates regularization terms that encourage smooth, collision-free trajectories during training, and trajectory optimization refines the generated seed trajectories to correct any colliding segments. Our experimental results demonstrate that high-quality trajectory priors, learned through our C-space-grounded diffusion model, enable the efficient generation of collision-free trajectories in narrow-passage environments, outperforming previous learning- and planning-based baselines. Videos and additional materials can be found on the project page: https://kiwi-sherbet.github.io/PRESTO.

Generating high-fidelity synthetic GPS trajectories is increasingly important for applications in transportation, urban planning, and what-if scenario simulation, especially as privacy concerns limit access to real-world mobility data. Existing trajectory generation models face a trade-off between efficiency and faithfulness to road network topology: continuous-space methods enable fast generation but ignore the road network, while topology-aware approaches rely on search-based autoregressive decoding that limits generation speed. We propose TrajDLM, a topology-aware trajectory generation framework based on block diffusion language models that bridges this gap. TrajDLM models trajectories as sequences of discrete road segments, combining a block diffusion backbone for efficient denoising, topology-aware embeddings from a road network encoder, and topology-constrained sampling to ensure coherent and realistic trajectories. Across three city-scale datasets, TrajDLM achieves strong performance on fine-grained local similarity metrics while being up to 2.8times faster than prior work, and demonstrates strong zero-shot transfer across domains, including unseen transportation modes. These results highlight the effectiveness of block-wise discrete diffusion as a scalable approach to accurate and efficient trajectory generation. Our code is available at https://github.com/cruiseresearchgroup/TrajDLM/

Human trajectory prediction is a practical task of predicting the future positions of pedestrians on the road, which typically covers all temporal ranges from short-term to long-term within a trajectory. However, existing works attempt to address the entire trajectory prediction with a singular, uniform training paradigm, neglecting the distinction between short-term and long-term dynamics in human trajectories. To overcome this limitation, we introduce a novel Progressive Pretext Task learning (PPT) framework, which progressively enhances the model's capacity of capturing short-term dynamics and long-term dependencies for the final entire trajectory prediction. Specifically, we elaborately design three stages of training tasks in the PPT framework. In the first stage, the model learns to comprehend the short-term dynamics through a stepwise next-position prediction task. In the second stage, the model is further enhanced to understand long-term dependencies through a destination prediction task. In the final stage, the model aims to address the entire future trajectory task by taking full advantage of the knowledge from previous stages. To alleviate the knowledge forgetting, we further apply a cross-task knowledge distillation. Additionally, we design a Transformer-based trajectory predictor, which is able to achieve highly efficient two-step reasoning by integrating a destination-driven prediction strategy and a group of learnable prompt embeddings. Extensive experiments on popular benchmarks have demonstrated that our proposed approach achieves state-of-the-art performance with high efficiency. Code is available at https://github.com/iSEE-Laboratory/PPT.

Graphical User Interface (GUI) agents hold great potential for automating complex tasks across diverse digital environments, from web applications to desktop software. However, the development of such agents is hindered by the lack of high-quality, multi-step trajectory data required for effective training. Existing approaches rely on expensive and labor-intensive human annotation, making them unsustainable at scale. To address this challenge, we propose AgentTrek, a scalable data synthesis pipeline that generates high-quality GUI agent trajectories by leveraging web tutorials. Our method automatically gathers tutorial-like texts from the internet, transforms them into task goals with step-by-step instructions, and employs a visual-language model agent to simulate their execution in a real digital environment. A VLM-based evaluator ensures the correctness of the generated trajectories. We demonstrate that training GUI agents with these synthesized trajectories significantly improves their grounding and planning performance over the current models. Moreover, our approach is more cost-efficient compared to traditional human annotation methods. This work underscores the potential of guided replay with web tutorials as a viable strategy for large-scale GUI agent training, paving the way for more capable and autonomous digital agents.

The field of trajectory forecasting has grown significantly in recent years, partially owing to the release of numerous large-scale, real-world human trajectory datasets for autonomous vehicles (AVs) and pedestrian motion tracking. While such datasets have been a boon for the community, they each use custom and unique data formats and APIs, making it cumbersome for researchers to train and evaluate methods across multiple datasets. To remedy this, we present trajdata: a unified interface to multiple human trajectory datasets. At its core, trajdata provides a simple, uniform, and efficient representation and API for trajectory and map data. As a demonstration of its capabilities, in this work we conduct a comprehensive empirical evaluation of existing trajectory datasets, providing users with a rich understanding of the data underpinning much of current pedestrian and AV motion forecasting research, and proposing suggestions for future datasets from these insights. trajdata is permissively licensed (Apache 2.0) and can be accessed online at https://github.com/NVlabs/trajdata

Imitation learning (IL) algorithms have shown promising results for robots to learn skills from expert demonstrations. However, they need multi-task demonstrations to be provided at once for acquiring diverse skills, which is difficult in real world. In this work we study how to realize continual imitation learning ability that empowers robots to continually learn new tasks one by one, thus reducing the burden of multi-task IL and accelerating the process of new task learning at the same time. We propose a novel trajectory generation model that employs both a generative adversarial network and a dynamics-aware prediction model to generate pseudo trajectories from all learned tasks in the new task learning process. Our experiments on both simulation and real-world manipulation tasks demonstrate the effectiveness of our method.

We present TrajectoryCrafter, a novel approach to redirect camera trajectories for monocular videos. By disentangling deterministic view transformations from stochastic content generation, our method achieves precise control over user-specified camera trajectories. We propose a novel dual-stream conditional video diffusion model that concurrently integrates point cloud renders and source videos as conditions, ensuring accurate view transformations and coherent 4D content generation. Instead of leveraging scarce multi-view videos, we curate a hybrid training dataset combining web-scale monocular videos with static multi-view datasets, by our innovative double-reprojection strategy, significantly fostering robust generalization across diverse scenes. Extensive evaluations on multi-view and large-scale monocular videos demonstrate the superior performance of our method.

We present a novel data-driven simulation environment for modeling traffic in metropolitan street intersections. Using real-world tracking data collected over an extended period of time, we train trajectory forecasting models to learn agent interactions and environmental constraints that are difficult to capture conventionally. Trajectories of new agents are first coarsely generated by sampling from the spatial and temporal generative distributions, then refined using state-of-the-art trajectory forecasting models. The simulation can run either autonomously, or under explicit human control conditioned on the generative distributions. We present the experiments for a variety of model configurations. Under an iterative prediction scheme, the way-point-supervised TrajNet++ model obtained 0.36 Final Displacement Error (FDE) in 20 FPS on an NVIDIA A100 GPU.

Coding agents solve repository issues through long sequences of exploration, editing, and validation. These trajectories are increasingly used as post-training data, so how they are collected shapes what the trained model learns. A common approach is to sample multiple trajectories independently for each issue and then select or curate them. However, as more trajectories are sampled independently, later trajectories become increasingly redundant, even though earlier trajectories could guide where subsequent collection effort should be spent. A natural way to use this history is to expose it to the coding agent as advice. But training on such trajectories can make the model rely on advice that is unavailable at test time, creating a train-test mismatch. Instead, we argue that history should guide where collection effort is spent, while the coding agent decides what to generate. We introduce SWE-Trail, a trajectory collector that uses earlier trajectories to guide subsequent collection while keeping that history outside the coding agent's context. During a new rollout, SWE-Trail uses history to identify a state where additional collection effort may be useful. There, the coding agent proposes candidate next actions from its ordinary context, and SWE-Trail briefly executes them from the same checkpoint to decide which route continues. We evaluate collection approaches by training student models on the trajectories they produce. For a 124B student initialized from Ling-3.0-flash-base, SWE-Trail improves mean resolution over independent sampling by 2.33 and 1.60 percentage points on SWE-bench Multilingual and SWE-bench Pro, respectively. Without history, the same pipeline produces more resolved trajectories than independent sampling, but improves by only 0.11 points on Multilingual. These results show the value of using history to guide collection without exposing it to the coding agent.

Controllable video generation has gained significant attention in recent years. However, two main limitations persist: Firstly, most existing works focus on either text, image, or trajectory-based control, leading to an inability to achieve fine-grained control in videos. Secondly, trajectory control research is still in its early stages, with most experiments being conducted on simple datasets like Human3.6M. This constraint limits the models' capability to process open-domain images and effectively handle complex curved trajectories. In this paper, we propose DragNUWA, an open-domain diffusion-based video generation model. To tackle the issue of insufficient control granularity in existing works, we simultaneously introduce text, image, and trajectory information to provide fine-grained control over video content from semantic, spatial, and temporal perspectives. To resolve the problem of limited open-domain trajectory control in current research, We propose trajectory modeling with three aspects: a Trajectory Sampler (TS) to enable open-domain control of arbitrary trajectories, a Multiscale Fusion (MF) to control trajectories in different granularities, and an Adaptive Training (AT) strategy to generate consistent videos following trajectories. Our experiments validate the effectiveness of DragNUWA, demonstrating its superior performance in fine-grained control in video generation. The homepage link is https://www.microsoft.com/en-us/research/project/dragnuwa/

Web agents struggle to adapt to new websites due to the scarcity of environment specific tasks and demonstrations. Recent works have explored synthetic data generation to address this challenge, however, they suffer from data quality issues where synthesized tasks contain hallucinations that cannot be executed, and collected trajectories are noisy with redundant or misaligned actions. In this paper, we propose SynthAgent, a fully synthetic supervision framework that aims at improving synthetic data quality via dual refinement of both tasks and trajectories. Our approach begins by synthesizing diverse tasks through categorized exploration of web elements, ensuring efficient coverage of the target environment. During trajectory collection, we refine tasks when conflicts with actual observations are detected, mitigating hallucinations while maintaining task consistency. After collection, we conduct trajectory refinement with a global context to mitigate potential noise or misalignments. Finally, we fine-tune open-source web agents on the refined synthetic data to adapt them to the target environment. Experimental results demonstrate that SynthAgent outperforms existing synthetic data methods, validating the importance of high-quality synthetic supervision. The code will be publicly available at https://github.com/aiming-lab/SynthAgent.

Diffusion and flow-based generative models produce strong images, yet their controllability remains largely endpoint-centric: users specify conditions and receive final outputs, while the intermediate generative dynamics remain hidden. Recent methods have begun to exploit generation order and process decomposition to improve sample quality, but still treat intermediate states as internal computation rather than objects for interaction. We propose Trajectory Forcing (TF), a trajectory-centric framework that makes the generation path explicit, semantic, and editable. TF organizes synthesis as a sequence of semantically structured stages, progressing from global layout to object-, part-, and detail-level representations. Each stage produces a decodable latent state that can be inspected, evaluated, and locally edited before the next stage begins. To instantiate this path, we derive coarse-to-fine teacher hierarchies by clustering pretrained visual representations such as DINOv2, and train a hierarchy-conditioned one-step flow-matching model at each level. We further introduce trajectory-aware metrics that measure structural consistency and local controllability beyond endpoint quality metrics such as FID. Experiments show that TF achieves competitive sample quality while exposing coherent intermediate states and supporting localized edits across semantic levels. By shifting the focus from final images to the generative path itself, TF opens a route toward controllable, trajectory-aware image synthesis.

Training API-calling large language model (LLM) agents demands massive amounts of high-quality trajectories. However, collecting such data at scale typically requires fully implemented environments with executable APIs and realistic, pre-populated backend databases, creating a major bottleneck for scalability. To overcome this, we propose an environment-free synthetic data generation approach that leverages LLMs as on-the-fly digital world models. Given only API specifications, our method generates trajectories mimicking interactions between an agent and a stateful environment. Specifically, an LLM first generates diverse tasks solvable with the provided APIs. A teacher agent then iteratively solves each task while an LLM simulator generates coherent synthetic API responses conditioned on the task context and simulation history. Finally, an LLM judge filters the trajectories to ensure the quality of the resulting dataset. We evaluate our approach on the challenging AppWorld and OfficeBench benchmarks, which include both information-retrieval and state-changing tasks. Fine-tuning models on our synthetic data yields significant performance gains, demonstrating that effective supervision for API-calling agents can be generated without any executable environment. Our results establish LLM-based API simulation as a practical, scalable solution for training agents across diverse API ecosystems.

Spatiotemporal trajectories are sequences of timestamped locations, which enable a variety of analyses that in turn enable important real-world applications. It is common to map trajectories to vectors, called embeddings, before subsequent analyses. Thus, the qualities of embeddings are very important. Methods for pre-training embeddings, which leverage unlabeled trajectories for training universal embeddings, have shown promising applicability across different tasks, thus attracting considerable interest. However, research progress on this topic faces two key challenges: a lack of a comprehensive overview of existing methods, resulting in several related methods not being well-recognized, and the absence of a unified pipeline, complicating the development of new methods and the analysis of methods. We present UniTE, a survey and a unified pipeline for this domain. In doing so, we present a comprehensive list of existing methods for pre-training trajectory embeddings, which includes methods that either explicitly or implicitly employ pre-training techniques. Further, we present a unified and modular pipeline with publicly available underlying code, simplifying the process of constructing and evaluating methods for pre-training trajectory embeddings. Additionally, we contribute a selection of experimental results using the proposed pipeline on real-world datasets. Implementation of the pipeline is publicly available at https://github.com/Logan-Lin/UniTE.

Generating human videos with realistic and controllable motions is a challenging task. While existing methods can generate visually compelling videos, they lack separate control over four key video elements: foreground subject, background video, human trajectory and action patterns. In this paper, we propose a decomposed human motion control and video generation framework that explicitly decouples motion from appearance, subject from background, and action from trajectory, enabling flexible mix-and-match composition of these elements. Concretely, we first build a ground-aware 3D world coordinate system and perform motion editing directly in the 3D space. Trajectory control is implemented by unprojecting edited 2D trajectories into 3D with focal-length calibration and coordinate transformation, followed by speed alignment and orientation adjustment; actions are supplied by a motion bank or generated via text-to-motion methods. Then, based on modern text-to-video diffusion transformer models, we inject the subject as tokens for full attention, concatenate the background along the channel dimension, and add motion (trajectory and action) control signals by addition. Such a design opens up the possibility for us to generate realistic videos of anyone doing anything anywhere. Extensive experiments on benchmark datasets and real-world cases demonstrate that our method achieves state-of-the-art performance on both element-wise controllability and overall video quality.

User profiling and region analysis are two tasks of significant commercial value. However, in practical applications, modeling different features typically involves four main steps: data preparation, data processing, model establishment, evaluation, and optimization. This process is time-consuming and labor-intensive. Repeating this workflow for each feature results in abundant development time for tasks and a reduced overall volume of task development. Indeed, human mobility data contains a wealth of information. Several successful cases suggest that conducting in-depth analysis of population movement data could potentially yield meaningful profiles about users and areas. Nonetheless, most related works have not thoroughly utilized the semantic information within human mobility data and trained on a fixed number of the regions. To tap into the rich information within population movement, based on the perspective that Regions Are Who walk them, we propose a large spatiotemporal model based on trajectories (RAW). It possesses the following characteristics: 1) Tailored for trajectory data, introducing a GPT-like structure with a parameter count of up to 1B; 2) Introducing a spatiotemporal fine-tuning module, interpreting trajectories as collection of users to derive arbitrary region embedding. This framework allows rapid task development based on the large spatiotemporal model. We conducted extensive experiments to validate the effectiveness of our proposed large spatiotemporal model. It's evident that our proposed method, relying solely on human mobility data without additional features, exhibits a certain level of relevance in user profiling and region analysis. Moreover, our model showcases promising predictive capabilities in trajectory generation tasks based on the current state, offering the potential for further innovative work utilizing this large spatiotemporal model.

Adapting pre-trained continuous-time generative models to sequentially incoming data without forgetting earlier tasks is a central challenge in lifelong learning. A leading strategy, generative replay, uses a generative model trained on historical tasks to augment its own continual update with synthetic samples from experience. However, it requires full trajectory simulations at every training step, which accumulate discretization errors and can degrade the replayed historical distribution. Here, we propose trajectory replay, which bypasses sample generation by training an updated velocity field to match both a frozen historical velocity along its trajectories and the incoming task's velocity field, weighted by a stability-plasticity coefficient. Through the lens of continuous-time transport, we show the resulting optimum averages the two task velocities by their respective densities and generates the mixture of their probability paths. Combined with mean velocity distillation, trajectory replay accesses historical trajectories using only a few network evaluations per continual update. Empirically, it outperforms generative replay and distillation baselines on class-incremental image generation. In two biological case studies, trajectory replay extends generative perturbation models to new contexts and experimental batches across two data modalities while preserving treatment-effect prediction.

Scientific ideation unfolds over multiple stages, including literature search, paper reading, tool use, claim checking, cross-paper synthesis, brainstorming, rejection of weak directions, and iterative writing. Yet most existing resources capture isolated components or final artifacts rather than the process connecting them. We introduce IdeaTrail, a dataset of 1,170 multi-turn trajectories for scientific ideation and proposal generation. Each trajectory follows a research process from evidence gathering to either idea selection or proposal construction, jointly recording tool use, acquired evidence, intermediate artifacts, and reasoning. IdeaTrail is synthesized from human-selected research papers and proposal artifacts through a Generator--Advisor loop. The Generator produces the visible sequence of actions, observations, and artifact edits, while the Advisor uses the full generation context to check grounding, causal order, naturalness, and leakage from hidden targets. This reverse-to-forward design keeps trajectories aligned with real scientific artifacts while retaining the uncertainty, evidence use, and staged convergence characteristic of research practice. IdeaTrail provides both reusable process supervision and a general recipe for constructing scientific-research-agent data.

In trajectory forecasting tasks for traffic, future output trajectories can be computed by advancing the ego vehicle's state with predicted actions according to a kinematics model. By unrolling predicted trajectories via time integration and models of kinematic dynamics, predicted trajectories should not only be kinematically feasible but also relate uncertainty from one timestep to the next. While current works in probabilistic prediction do incorporate kinematic priors for mean trajectory prediction, variance is often left as a learnable parameter, despite uncertainty in one time step being inextricably tied to uncertainty in the previous time step. In this paper, we show simple and differentiable analytical approximations describing the relationship between variance at one timestep and that at the next with the kinematic bicycle model. These approximations can be easily incorporated with negligible additional overhead into any existing trajectory forecasting framework utilizing probabilistic predictions, whether it is autoregressive or one-shot prediction. In our results, we find that encoding the relationship between variance across timesteps works especially well in unoptimal settings, such as with small or noisy datasets. We observe up to a 50% performance boost in partial dataset settings and up to an 8% performance boost in large-scale learning compared to previous kinematic prediction methods on SOTA trajectory forecasting architectures out-of-the-box, with no fine-tuning. In this paper, we show four analytical formulations of probabilistic kinematic priors which can be used for any Gaussian Mixture Model (GMM)-based deep learning models, quantify the error bound on linear approximations applied during trajectory unrolling, and show results to evaluate each formulation in trajectory forecasting.

Tool-calling agents are increasingly deployed in real-world customer-facing workflows. Yet most studies on tool-calling agents focus on idealized settings with general, fixed, and well-specified tasks. In real-world applications, user requests are often (1) ambiguous, (2) changing over time, or (3) infeasible due to policy constraints, and training and evaluation data that cover these diverse, complex interaction patterns remain under-represented. To bridge the gap, we present Trajectory2Task, a verifiable data generation pipeline for studying tool use at scale under three realistic user scenarios: ambiguous intent, changing intent, and infeasible intents. The pipeline first conducts multi-turn exploration to produce valid tool-call trajectories. It then converts these trajectories into user-facing tasks with controlled intent adaptations. This process yields verifiable task that support closed-loop evaluation and training. We benchmark seven state-of-the-art LLMs on the generated complex user scenario tasks and observe frequent failures. Finally, using successful trajectories obtained from task rollouts, we fine-tune lightweight LLMs and find consistent improvements across all three conditions, along with better generalization to unseen tool-use domains, indicating stronger general tool-calling ability.

Successful trajectories on difficult tasks provide valuable supervision for model improvement, but specialized harnesses introduce interventions that may be unavailable during deployment. We propose Recursive Self-Rewrite (RSR), a framework that uses one base model, Qwen-3.8-27B, to discover successful solutions under diverse harnesses and reconstruct them as training trajectories under a general harness. A planner extracts procedures into runbooks, a critic screens for verifier and solution leakage and guides recursive revision, and an executor follows qualified runbooks in fresh sandboxes. Across approximately 3K self-curated terminal tasks, three harnesses jointly solve 759 tasks, 34.3% more than the strongest individual harness in the recorded pool. RSR expands 2,001 successful source trajectories into 11,094 rewritten trajectories for supervised finetuning. Training on these trajectories outperforms both the base model and direct trajectory SFT. Compared with the base model, pass@3 increases from 57.0% to 74.2% on Terminal-Bench 2, from 1.5% to 9.1% on Terminal-Bench 4, from 39.0% to 63.0% on our self-curated Terminal-Bench Hard, and from 3.0% to 6.0% on our Software Terminal-Bench. Process reward on Long-Horizon Terminal-Bench rises from 0.21 to 0.29. These results show how diverse harness-assisted experiences can be reconstructed into reusable capabilities for a model operating under a general harness.

Generative sequence models are often trained to plan motion in physical domains, from robotics to mechanical simulations. When constructing a dataset to train such a model, engineers may curate demonstrations to specify how trajectories should be distributed over a physical quantity like travel distance or mechanical energy. For example, a roboticist building a maze navigation agent might choose demonstrations whose travel distances cover a fixed range uniformly, hoping to constrain the agent's expected power usage. We find that standard deep learning can violate this intent: each generated trajectory can seem plausible on its own, but the aggregate distribution over the physical quantity is wrong. We call this failure physical misgeneralization, and develop an account of its mechanism. Using controlled synthetic tasks, we show that physical misgeneralization arises when local errors typical of the model class propagate through the physical measurement to shift the recovered distribution. We estimate these errors with a data deviation kernel, and we use it to predict which physical quantities gain or lose mass in both our synthetic and more applied maze navigation and double-pendulum motion tasks. Finally, our mechanistic interpretation helps identify which mitigation strategies are structurally promising, and we use it to propose a kernel-informed intervention.

Motion behaviour is driven by several factors -- goals, presence and actions of neighbouring agents, social relations, physical and social norms, the environment with its variable characteristics, and further. Most factors are not directly observable and must be modelled from context. Trajectory prediction, is thus a hard problem, and has seen increasing attention from researchers in the recent years. Prediction of motion, in application, must be realistic, diverse and controllable. In spite of increasing focus on multimodal trajectory generation, most methods still lack means for explicitly controlling different modes of the data generation. Further, most endeavours invest heavily in designing special mechanisms to learn the interactions in latent space. We present Conditional Speed GAN (CSG), that allows controlled generation of diverse and socially acceptable trajectories, based on user controlled speed. During prediction, CSG forecasts future speed from latent space and conditions its generation based on it. CSG is comparable to state-of-the-art GAN methods in terms of the benchmark distance metrics, while being simple and useful for simulation and data augmentation for different contexts such as fast or slow paced environments. Additionally, we compare the effect of different aggregation mechanisms and show that a naive approach of concatenation works comparable to its attention and pooling alternatives.

Recent advances in real-time interactive text-driven motion generation have enabled humanoids to perform diverse behaviors. However, kinematics-only generators often exhibit physical hallucinations, producing motion trajectories that are physically infeasible to track with a downstream motion tracking controller or unsafe for real-world deployment. These failures often arise from the lack of explicit physics-aware objectives for real-robot execution and become more severe under out-of-distribution (OOD) user inputs. Hence, we propose SafeFlow, a text-driven humanoid whole-body control framework that combines physics-guided motion generation with a 3-Stage Safety Gate driven by explicit risk indicators. SafeFlow adopts a two-level architecture. At the high level, we generate motion trajectories using Physics-Guided Rectified Flow Matching in a VAE latent space to improve real-robot executability, and further accelerate sampling via Reflow to reduce the number of function evaluations (NFE) for real-time control. The 3-Stage Safety Gate enables selective execution by detecting semantic OOD prompts using a Mahalanobis score in text-embedding space, filtering unstable generations via a directional sensitivity discrepancy metric, and enforcing final hard kinematic constraints such as joint and velocity limits before passing the generated trajectory to a low-level motion tracking controller. Extensive experiments on the Unitree G1 demonstrate that SafeFlow outperforms prior diffusion-based methods in success rate, physical compliance, and inference speed, while maintaining diverse expressiveness.

Multi-turn user-facing agents must infer user intent from incomplete requests, collect missing information through dialogue and tools, and execute valid actions. A training trajectory records this process as an interleaved sequence of user messages, agent responses, tool calls, etc. Synthesizing sufficiently complex trajectory has become a central route to train agents: existing pipelines often increase difficulty by composing multiple user requests into longer tasks, producing write-intensive trajectories that train sequential execution. We argue that a single write decision can itself be difficult when the agent must gather and compare substantial read-tool evidence before its arguments become identifiable, a challenge that write-intensive data alone cannot address. Guided by this insight, we propose WRIT (Write-Read Intensive Trajectory Synthesis), a pipeline for synthesizing multi-turn agent training trajectories along two complexity axes: the number of write decisions in a task and the evidence burden of each individual decision. WRIT first generates write-intensive and read-heavy tasks. It then diversifies user behavior instructions to reflect realistic conversational variation, and finally simulates agent-user interactions in an executable environment to produce complete training trajectories. The resulting data trains agents not only for longer task execution, but also for robust, evidence-grounded decision making under high information load. With only 2K synthesized trajectories, a 4B model trained on WRIT outperforms GPT-5.1 no-think on τ^2-bench and substantially reduces inference-time token usage, showing that compact SFT data can convert part of expensive test-time reasoning into efficient agent behavior.

We propose a unified framework for motion control in video generation that seamlessly integrates camera movement, object-level translation, and fine-grained local motion using trajectory-based inputs. In contrast to prior methods that address these motion types through separate modules or task-specific designs, our approach offers a cohesive solution by projecting user-defined trajectories into the latent space of pre-trained image-to-video generation models via a lightweight motion injector. Users can specify keypoints and their motion paths to control localized deformations, entire object motion, virtual camera dynamics, or combinations of these. The injected trajectory signals guide the generative process to produce temporally consistent and semantically aligned motion sequences. Our framework demonstrates superior performance across multiple video motion control tasks, including stylized motion effects (e.g., motion brushes), dynamic viewpoint changes, and precise local motion manipulation. Experiments show that our method provides significantly better controllability and visual quality compared to prior approaches and commercial solutions, while remaining broadly compatible with various state-of-the-art video generation backbones. Project page: https://anytraj.github.io/.

Accumulating substantial volumes of real-world driving data proves pivotal in the realm of trajectory forecasting for autonomous driving. Given the heavy reliance of current trajectory forecasting models on data-driven methodologies, we aim to tackle the challenge of learning general trajectory forecasting representations under limited data availability. We propose a pipeline-level solution to mitigate the issue of data scarcity in trajectory forecasting. The solution is composed of two parts: firstly, we adopt HD map augmentation and trajectory synthesis for generating driving data, and then we learn representations by pre-training on them. Specifically, we apply vector transformations to reshape the maps, and then employ a rule-based model to generate trajectories on both original and augmented scenes; thus enlarging the driving data without collecting additional real ones. To foster the learning of general representations within this augmented dataset, we comprehensively explore the different pre-training strategies, including extending the concept of a Masked AutoEncoder (MAE) for trajectory forecasting. Without bells and whistles, our proposed pipeline-level solution is general, simple, yet effective: we conduct extensive experiments to demonstrate the effectiveness of our data expansion and pre-training strategies, which outperform the baseline prediction model by large margins, e.g. 5.04%, 3.84% and 8.30% in terms of MR_6, minADE_6 and minFDE_6. The pre-training dataset and the codes for pre-training and fine-tuning are released at https://github.com/yhli123/Pretraining_on_Synthetic_Driving_Data_for_Trajectory_Prediction.

Despite rapid advances in text-to-image generation, faithfully realizing user intent remains challenging, often requiring manual multi-turn trial and error. To automate this process, existing systems rely on either simple prompt rewriting or closed-loop agents driven by hand-crafted rules, rather than learning to adapt actions to the evolving generation process. In this paper, we reformulate image generation as a state-conditioned action-making problem and propose Generation Navigator, a multi-turn T2I agent that learns to dynamically steer the generation trajectory and output the next action. However, training this agent via reinforcement learning introduces a critical credit assignment challenge: naively rewarding a trajectory based solely on a single state assigns equal credit to all actions in the rollout, ignores the quality dynamics across turns, and fails to distinguish actions that improve the trajectory from those that degrade it or waste turns without progress. We resolve this with PRE-GRPO (Peak-Retention-Efficiency Group Relative Policy Optimization), a trajectory-level reinforcement learning objective that explicitly rewards discovering a high-quality image (Peak), avoiding subsequent quality degradation across turns (Retention), and minimizing unnecessary turns (Efficiency). Experiments show substantial improvements across benchmarks, reaching a WISE score of 0.90 and 79.06% reasoning accuracy on T2I-ReasonBench.

Generative models have gained significant traction in offline reinforcement learning (RL) due to their ability to model complex trajectory distributions. However, existing generation-based approaches still struggle with long-horizon tasks characterized by sparse rewards. Some hierarchical generation methods have been developed to mitigate this issue by decomposing the original problem into shorter-horizon subproblems using one policy and generating detailed actions with another. While effective, these methods often overlook the multi-scale temporal structure inherent in trajectories, resulting in suboptimal performance. To overcome these limitations, we propose MAGE, a Multi-scale Autoregressive GEneration-based offline RL method. MAGE incorporates a condition-guided multi-scale autoencoder to learn hierarchical trajectory representations, along with a multi-scale transformer that autoregressively generates trajectory representations from coarse to fine temporal scales. MAGE effectively captures temporal dependencies of trajectories at multiple resolutions. Additionally, a condition-guided decoder is employed to exert precise control over short-term behaviors. Extensive experiments on five offline RL benchmarks against fifteen baseline algorithms show that MAGE successfully integrates multi-scale trajectory modeling with conditional guidance, generating coherent and controllable trajectories in long-horizon sparse-reward settings.

Diffusion models have shown strong competitiveness in offline reinforcement learning tasks by formulating decision-making as sequential generation. However, the practicality of these methods is limited due to the lengthy inference processes they require. In this paper, we address this problem by decomposing the sampling process of diffusion models into two decoupled subprocesses: 1) generating a feasible trajectory, which is a time-consuming process, and 2) optimizing the trajectory. With this decomposition approach, we are able to partially separate efficiency and quality factors, enabling us to simultaneously gain efficiency advantages and ensure quality assurance. We propose the Trajectory Diffuser, which utilizes a faster autoregressive model to handle the generation of feasible trajectories while retaining the trajectory optimization process of diffusion models. This allows us to achieve more efficient planning without sacrificing capability. To evaluate the effectiveness and efficiency of the Trajectory Diffuser, we conduct experiments on the D4RL benchmarks. The results demonstrate that our method achieves it 3-it 10 times faster inference speed compared to previous sequence modeling methods, while also outperforming them in terms of overall performance. https://github.com/RenMing-Huang/TrajectoryDiffuser Keywords: Reinforcement Learning and Efficient Planning and Diffusion Model

Language-conditioned humanoid motion generation enables users to create and refine robot movements through natural language. The central challenge is to connect an underspecified request to concrete motion structure that can subsequently be revised relative to an accepted reference. We present TRACE, a generation and editing framework for the Unitree G1 humanoid robot built around typed, measurable kinematic quantities. Our insight is to ground generation conditions in paired training motions and editing goals in the current motion. A language model learns to predict support, root, and hand events from motion-derived supervision; their time-aligned encodings complement the original text in a diffusion generator. Gravity-referenced states and trajectory--contact objectives improve kinematic consistency. For editing, typed requests define body--time scopes and source-relative goals. A separate reference-conditioned diffusion editor uses these goals and revised events to realize changes, while sampling-time projection preserves protected state coordinates. Quantitative evaluation and human assessment show improved semantic alignment and motion quality over the compared methods. Multi-turn editing evaluations demonstrate more reliable execution of successive relative requests under shared preservation constraints. Code is available at https://github.com/Multimodal-Perception-Action/TRACE.

Computer use agents (CUAs) need to plan task workflows grounded in diverse, ever-changing applications and environments, but learning is hindered by the scarcity of large-scale, high-quality training data in the target application. Existing datasets are domain-specific, static, and costly to annotate, while current synthetic data generation methods often yield simplistic or misaligned task demonstrations. To address these limitations, we introduce Watch & Learn (W&L), a framework that converts human demonstration videos readily available on the Internet into executable UI trajectories at scale. Instead of directly generating trajectories or relying on ad hoc reasoning heuristics, we cast the problem as an inverse dynamics objective: predicting the user's action from consecutive screen states. This formulation reduces manual engineering, is easier to learn, and generalizes more robustly across applications. Concretely, we develop an inverse dynamics labeling pipeline with task-aware video retrieval, generate over 53k high-quality trajectories from raw web videos, and demonstrate that these trajectories improve CUAs both as in-context demonstrations and as supervised training data. On the challenging OSWorld benchmark, UI trajectories extracted with W&L consistently enhance both general-purpose and state-of-the-art frameworks in-context, and deliver stronger gains for open-source models under supervised training. These results highlight web-scale human demonstration videos as a practical and scalable foundation for advancing CUAs towards real-world deployment.

Motion trajectories offer reliable references for physics-based motion learning but suffer from sparsity, particularly in regions that lack sufficient data coverage. To address this challenge, we introduce a self-supervised, structured representation and generation method that extracts spatial-temporal relationships in periodic or quasi-periodic motions. The motion dynamics in a continuously parameterized latent space enable our method to enhance the interpolation and generalization capabilities of motion learning algorithms. The motion learning controller, informed by the motion parameterization, operates online tracking of a wide range of motions, including targets unseen during training. With a fallback mechanism, the controller dynamically adapts its tracking strategy and automatically resorts to safe action execution when a potentially risky target is proposed. By leveraging the identified spatial-temporal structure, our work opens new possibilities for future advancements in general motion representation and learning algorithms.

Thanks to the latest advances in learning and robotics, domestic robots are beginning to enter homes, aiming to execute household chores autonomously. However, robots still struggle to perform autonomous manipulation tasks in open-ended environments. In this context, this paper presents a method that enables a robot to manipulate a wide spectrum of articulated objects. In this paper, we automatically generate different robot low-level trajectory primitives to manipulate given object articulations. A very important point when it comes to generating expert trajectories is to consider the diversity of solutions to achieve the same goal. Indeed, knowing diverse low-level primitives to accomplish the same task enables the robot to choose the optimal solution in its real-world environment, with live constraints and unexpected changes. To do so, we propose a method based on Quality-Diversity algorithms that leverages sparse reward exploration in order to generate a set of diverse and high-performing trajectory primitives for a given manipulation task. We validated our method, QDTraj, by generating diverse trajectories in simulation and deploying them in the real world. QDTraj generates at least 5 times more diverse trajectories for both hinge and slider activation tasks, outperforming the other methods we compared against. We assessed the generalization of our method over 30 articulations of the PartNetMobility articulated object dataset, with an average of 704 different trajectories by task. Code is publicly available at: https://kappel.web.isir.upmc.fr/trajectory_primitive_website

Predicting the dynamics of interacting objects is essential for both humans and intelligent systems. However, existing approaches are limited to simplified, toy settings and lack generalizability to complex, real-world environments. Recent advances in generative models have enabled the prediction of state transitions based on interventions, but focus on generating a single future state which neglects the continuous dynamics resulting from the interaction. To address this gap, we propose InterDyn, a novel framework that generates videos of interactive dynamics given an initial frame and a control signal encoding the motion of a driving object or actor. Our key insight is that large video generation models can act as both neural renderers and implicit physics ``simulators'', having learned interactive dynamics from large-scale video data. To effectively harness this capability, we introduce an interactive control mechanism that conditions the video generation process on the motion of the driving entity. Qualitative results demonstrate that InterDyn generates plausible, temporally consistent videos of complex object interactions while generalizing to unseen objects. Quantitative evaluations show that InterDyn outperforms baselines that focus on static state transitions. This work highlights the potential of leveraging video generative models as implicit physics engines. Project page: https://interdyn.is.tue.mpg.de/

This paper presents DriVerse, a generative model for simulating navigation-driven driving scenes from a single image and a future trajectory. Previous autonomous driving world models either directly feed the trajectory or discrete control signals into the generation pipeline, leading to poor alignment between the control inputs and the implicit features of the 2D base generative model, which results in low-fidelity video outputs. Some methods use coarse textual commands or discrete vehicle control signals, which lack the precision to guide fine-grained, trajectory-specific video generation, making them unsuitable for evaluating actual autonomous driving algorithms. DriVerse introduces explicit trajectory guidance in two complementary forms: it tokenizes trajectories into textual prompts using a predefined trend vocabulary for seamless language integration, and converts 3D trajectories into 2D spatial motion priors to enhance control over static content within the driving scene. To better handle dynamic objects, we further introduce a lightweight motion alignment module, which focuses on the inter-frame consistency of dynamic pixels, significantly enhancing the temporal coherence of moving elements over long sequences. With minimal training and no need for additional data, DriVerse outperforms specialized models on future video generation tasks across both the nuScenes and Waymo datasets. The code and models will be released to the public.

Video diffusion and flow models require many sequential evaluations, making generation computationally expensive. Few-step distillation reduces this cost but poses a capacity allocation problem: a student must match the teacher's iterative generation with far less sequential computation. Existing trajectory methods ask the student to reproduce teacher transitions that are highly curved at high noise, which can exceed its capacity and degrade fine detail. We introduce Parametric Trajectory Distillation (PTD), which lets the student parameterize teacher trajectory segments as polynomials and learn from teacher guidance along its own predicted path. PTD is designed to let the learned curvature adapt to the backbone's predictive capacity, preserving motion and diversity. The curvature head is used only in training; inference keeps the original backbone architecture. On Wan2.1-14B, four-step PTD sets a new state of the art for trajectory distillation, significantly improving dynamic quality and naturalness over PDD, the best-performing trajectory-only method on this model, under the same training setting. On the 33B audio-video MiniMax-H3, LoRA-trained PTD significantly improves diversity and naturalness over the state-of-the-art LightX2V Turbo. Blinded human votes give PTD 55.1% and 63.4% preference shares against PDD and LightX2V Turbo. Project page: https://alan-lanfeng.github.io/PTD/.

Data-driven autonomous driving motion generation tasks are frequently impacted by the limitations of dataset size and the domain gap between datasets, which precludes their extensive application in real-world scenarios. To address this issue, we introduce SMART, a novel autonomous driving motion generation paradigm that models vectorized map and agent trajectory data into discrete sequence tokens. These tokens are then processed through a decoder-only transformer architecture to train for the next token prediction task across spatial-temporal series. This GPT-style method allows the model to learn the motion distribution in real driving scenarios. SMART achieves state-of-the-art performance across most of the metrics on the generative Sim Agents challenge, ranking 1st on the leaderboards of Waymo Open Motion Dataset (WOMD), demonstrating remarkable inference speed. Moreover, SMART represents the generative model in the autonomous driving motion domain, exhibiting zero-shot generalization capabilities: Using only the NuPlan dataset for training and WOMD for validation, SMART achieved a competitive score of 0.72 on the Sim Agents challenge. Lastly, we have collected over 1 billion motion tokens from multiple datasets, validating the model's scalability. These results suggest that SMART has initially emulated two important properties: scalability and zero-shot generalization, and preliminarily meets the needs of large-scale real-time simulation applications. We have released all the code to promote the exploration of models for motion generation in the autonomous driving field. The source code is available at https://github.com/rainmaker22/SMART.

GUI agents require high-quality interaction trajectories to learn how software environments respond to actions, maintain state, and support multi-step workflows. However, the diversity of available trajectories is constrained by the applications, interface states, and workflows accessible in the underlying environments. Expanding this coverage requires deploying increasingly diverse and complex software, with specialized applications imposing additional installation, configuration, and runtime costs. We introduce AutoGUIWorld, a data generation framework that combines the visual priors of image generators with the task knowledge of a planner to synthesize GUI interaction trajectories without deploying or running the corresponding software environments. AutoGUIWorld samples initial GUI scenes from structured specifications of operating-system context, visual appearance, and interface state, and generates tasks conditioned on those scenes. A planner then specifies atomic actions and their intended visual consequences, while an image generator iteratively edits the current screenshot to produce subsequent observations. Action grounding and transition-level quality filtering yield 79,266 spatially annotated step-level training samples across Ubuntu, Windows, macOS, and Chrome. Fine-tuning Qwen3.5-35B-A3B on AutoGUIWorld trajectories improves the mean task score on OSWorld from 33.0% to 40.8% and the task success rate on ScienceBoard from 14.0% to 32.2%. These results show that generated trajectories improve GUI-agent performance on real desktop and scientific tasks.

We present a scalable pipeline for automatically generating high-quality training data for web agents. In particular, a major challenge in identifying high-quality training instances is trajectory evaluation - quantifying how much progress was made towards task completion. We introduce a novel constraint-based evaluation framework that provides fine-grained assessment of progress towards task completion. This enables us to leverage partially successful trajectories, which significantly expands the amount of usable training data. We evaluate our method on a new benchmark we propose called BookingArena, which consists of complex booking tasks across 20 popular websites, and demonstrate that our distilled student model outperforms open-source approaches and matches or exceeds commercial systems, while being a significantly smaller model. Our work addresses the challenge of efficiently creating diverse, realistic web interaction datasets and provides a systematic evaluation methodology for complex structured web tasks.