Denoising
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Interpreting Object-Dependent Concept Brittleness in Text-to-Image Diffusion Models
2026-09-09 09:07:40Yifan Yuan, Xiangyu Liu, Hongming Shan, Yu Han, Yu Jiang, Hao Tan, Junping Zhang, Linlin ShenAbstract
Although text-to-image diffusion models generally exhibit strong prompt-following ability, we identify a persistent and previously underexplored failure pattern in which a small subset of prompts differing only in the object consistently fails to realize the same target concept under identical generation settings. We term this phenomenon object-dependent concept brittleness. Such cases suggest systematic internal blind spots rather than random sampling noise. In this paper, we present an interpretability-oriented framework to audit and minimally correct these failures. Our key idea is to analyze denoising trajectories in a step-wise sparse autoencoder (SAE) space, where abstract style and attribute concepts become more separable than in the raw denoising representation. This sparse space enables us to compare successful and failed generations, identify concept dimensions whose evidence is missing, weakened, or temporally delayed, and construct class-level concept prototypes from reliable class-consistent samples. Based on this audit process, we introduce a lightweight inference-time correction strategy that interpolates denoising features toward the corresponding prototype in SAE space. Rather than serving as a task-specific retraining method, this intervention acts as a validation of the diagnosed concept deficiency. We evaluate the proposed framework on style and attribute failure cases across multiple diffusion backbones, with significant improvements in concept consistency, text fidelity, and repair success. Further analyses show that deeper denoising representations provide clearer concept structure, while early-stage intervention offers the strongest correction leverage. Code is available at this https URL.
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https://arxiv.org/abs/2609.09909
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StreetDiff: Multi-view Street Scenes Generation via Cross-view Consistent Multi-view Stable Diffusion with Structure Prompts
2026-09-09 08:46:34Qi Zhang, Yanyifan Wang, Weiyuan Zhang, Hui HuangAbstract
Multi-view diffusion models have shown strong performance in scenes with strong geometric priors and sparse semantics, such as indoor rooms or simple outdoor environments (e.g., fields, courtyards). However, they often fail to maintain cross-view consistency under camera rotation, especially in structurally complex urban environments. Without explicit modeling of spherical correspondence across views, existing approaches tend to produce object duplication, structural distortion, and layout inconsistency. To address this limitation, we propose StreetDiff, a multi-view diffusion framework that explicitly enforces cross-view alignment during denoising. StreetDiff introduces a Panorama--Perspective Synergy design to decouple global layout reasoning from local detail synthesis, and incorporates a Panorama Alignment Module (PAM) that establishes spherical-projection-based attention constraints across views. By injecting structured alignment constraints without modifying the diffusion backbone, our framework achieves robust cross-view coherence in challenging urban street scene generation tasks. In addition, we construct Street360, a large-scale HDR multi-view urban panorama dataset. Extensive experiments demonstrate that StreetDiff significantly improves structural consistency and visual fidelity compared to prior multi-view diffusion generation methods.
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https://arxiv.org/abs/2609.09890
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PccDiffuser: Multi-solution Motion Planning for Continuum Robots
2026-09-09 05:41:27Ke Qiu, Sifan Chen, Si Wang, Rong Xiong, Yue Wang, Haojian LuAbstract
We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multiple candidate solutions in parallel, which are subsequently converted into an executable trajectory by time allocation considering actuator constraints. Under the piecewise constant-curvature model, we use exponential co-ordinates to describe the robot kinematics, and use graph neural network to encode a variable number of environment obstacles. Analytical differential kinematics is incorporated in the denoising process to improve terminal accuracy and whole-body clearance. On a mixed test set comprising workspace with zero to four obstacles, PccDiffuser achieved a success rate of 91\%. Compared with existing sampling- and optimisation-based benchmarks, it delivered both a higher success rate and greater computational efficiency, with the latter advantage becoming more substantial when sampling more candidate solutions. Experiments on a three-section tendon-driven continuum robot further demonstrate consecutive planning, multi-solution planning, and whole-body obstacle avoidance.
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URL
https://arxiv.org/abs/2609.09745
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Efficient Fairness Auditing Across Guidance Scales in Text-to-Image Diffusion Models via Causal Abstraction
2026-09-08 22:05:06Nabila Tasfiha Rahman, Rajatsubhra Chakraborty, Depeng Xu, Lu ZhangAbstract
Fairness auditing of text-to-image diffusion models often requires generating large numbers of images across sampling configurations, making comprehensive evaluation computationally expensive. We propose a causal-abstraction-based audit instrument for efficiently evaluating fairness under interventions on the classifier-free guidance scale. Given a fixed prompt and a target feature function, we represent the diffusion process as a low-level structural causal model and construct a corresponding high-level model over abstract denoising states. We characterize the projected causal structure, establish identifiability of the fairness-relevant interventional query, and provide sufficient conditions under which the high-level model preserves this query. A probabilistic transformer implements the high-level model as an amortized predictor of target-feature distributions across guidance scales. Experiments evaluate distributional fidelity, fairness-query accuracy, and computational efficiency. We present two auditing demonstrations: one using standard Stable Diffusion 1.5 and another using StayFair, a fairness-enhanced Stable Diffusion model, to examine their behavior across guidance scales.
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URL
https://arxiv.org/abs/2609.09486
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Let It Go or Learn to Self-Correct: Continuous Diffusion for Constrained Discrete Tasks
2026-09-08 16:45:52Mariia Drozdova, St\'ephane Liem Nguyen, Fran\c{c}ois FleuretAbstract
Denoising Diffusion Probabilistic Models (DDPMs) generate samples by starting from noise and repeatedly denoising while keeping each update close to the current noisy state. This behavior is effective in many continuous domains, but its role is less clear for globally constrained discrete tasks, such as Sudoku, graph connectivity, Latin squares, and N-queens. In such settings, early discrete errors can be difficult to undo. As a result, standard diffusion sampling may preserve early mistakes, even when the model's clean predictions are informative. We compare standard samplers to sampling directly from the model's clean prediction. Without retraining, this single change improves Sudoku validity from 31% to 95%, with consistent gains across the other discrete tasks. We hypothesize that staying close to the current noisy state is harmful because the reverse trajectory can drift off the forward noising distribution the model was trained on. To reduce this train-test mismatch, we further introduce self-correction training, which exposes the model to its own predictions, improving robustness to errors that arise during inference. This substantially improves the performance of standard samplers. Our results suggest that continuous diffusion models can learn nontrivial global constraints, but discrete reasoning tasks require better alignment between training and inference: either through samplers that reduce commitment to early decisions, or through training that teaches the model to correct its own inference-time errors.
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URL
https://arxiv.org/abs/2609.09009
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Neither Adversarial Training Nor Purification: Emergent Adversarial Robustness from Oscillatory Predictive Learning
2026-09-08 12:51:26Mohammed-Yassine Habibi, Klea Ziu, Martin Tak\'a\v{c}, Makoto YamadaAbstract
Adversarial robustness in computer vision is still largely achieved through adversarial training or test-time adversarial purification, both of which introduce significant computational overhead by generating adversarial examples during training or performing iterative denoising at test time. We study whether empirical robustness can instead emerge from architectural and representation-learning inductive biases. We introduce Oscillatory Predictive Learning (OPL), a two-stage framework that combines Artificial Kuramoto Oscillatory Neurons (AKOrN) with predictive self-supervised pretraining using X-PhiNet. Because our default checkpoint uses randomized initial oscillator states, we compare it with other randomized adversarial defense methods that provide precise, reproducible, and strong attack protocols. Experiments on CIFAR-10 and CIFAR-100, with additional corruption evaluation on CIFAR-10-C, demonstrate that our method achieves competitive results under the AutoAttack-rand evaluation protocol. On CIFAR-10 and CIFAR-100, OPL attains 76.63$\pm$0.76$\%$ and 50.44$\%$ robust accuracy, respectively, under $\ell_\infty$, $\epsilon=8/255$, AutoAttack-rand with EoT $K=20$.
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URL
https://arxiv.org/abs/2609.08683
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In-Place Instruction Following in Diffusion Language Models
2026-09-07 07:55:40Zheng Nie, Zherui Li, Jiaming Zhang, Kun Wang, Zhenhong Zhou, Yufei GuoAbstract
Diffusion Large Language Models (dLLMs) generate text via bidirectional iterative denoising, naturally supporting user-specified constraints anchored at arbitrary output positions, a paradigm known as In-place Prompting (IPP). We formalize this as the In-place Instruction Following (IIF) task and construct IIF-Bench, a hierarchical benchmark spanning literal, style, and discourse-function constraints, paired with a rubric-based local-global evaluation protocol. An inference-time attention-bias probe suggests that vanilla dLLMs often under-prioritize constraint spans during denoising. We then propose GRAFT, an IPP-oriented post-training framework combining constraint-aware SFT and preference optimization. On four representative dLLMs, GRAFT raises the average IIF score from 57.75 to 73.10 (+15.35 points), with absolute gains of 15.91 and 15.57 points on literal and discourse-function constraints, while preserving general generation ability.
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URL
https://arxiv.org/abs/2609.07160
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Noisy-Space Policy Gradient for Diffusion Policies in Offline Reinforcement Learning
2026-09-07 00:08:13Mahmoud Selim, Cristina Cipriani, Karl H. JohanssonAbstract
Diffusion policies offer a powerful and expressive parameterization for continuous control. Yet, their integration with reinforcement learning remains conceptually and algorithmically challenging. In this work, we address this gap by introducing a noisy-space action-value (Q-)function that assigns values to diffusion latents through the distribution of executed actions induced by the denoising process. We show that this construction admits a precise semantic interpretation and derive a noisy-space policy gradient (NSPG) that optimizes noisy latents using only clean action-space value estimates. Building on this result, we formulate a KL-regularized policy improvement over noisy latents and show that the resulting objective admits a diffusion-compatible regression form, avoiding backpropagation through the denoising process. Empirical results on state-based D4RL benchmarks and vision-based OGBench tasks demonstrate that the proposed noisy-space objective provides a principled and effective basis for training diffusion policies in offline reinforcement learning. Project webpage: this https URL
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URL
https://arxiv.org/abs/2609.06882
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MemCorr-DP: Counterfactual Correspondence Conditioning for a Diffusion Policy Guided by a Reference
2026-09-06 14:03:20Tan Su, Haoxiang Yang, Ruxin Wang, Binghui XieAbstract
Behavior-cloned visuomotor policies can remain accurate near their training distribution yet fail when object position and camera viewpoint change together. A successful reference trajectory contains the geometry needed to transfer the same interaction, but the policy must align that geometry with the current scene and remain sensitive to it during denoising. To address these challenges, we present MemCorr-DP, a diffusion policy that lifts frozen RoMa v2 matches into explicit 3D relations between the current scene and the reference trajectory. A counterfactual paired objective assigns opposite behaviors the same physical state and noisy action while retaining reference-specific denoising targets. Mixed-condition fine-tuning then adapts the policy from ground-truth geometry to measured correspondence errors. Our strongest evaluation places the Door in the outermost position bands beyond the training support and changes the query camera by $\pm15^\circ$. Under this combined shift, MemCorr-DP achieves 96.67% closed-loop success, compared with 88.00% for a visual Transformer with the same action architecture. Objective ablations and reference interventions show that behavior responds to the selected reference, while matched controls favor the complete relation set over future motion or centroid geometry alone. These results support explicit 3D reference relations as a robust conditioning interface when spatial and viewpoint changes are compounded in the evaluated task.
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URL
https://arxiv.org/abs/2609.06615
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Evidence-Aligned Local Composition of Discrete Experts for Sequence Restoration
2026-09-05 01:28:43Mohammad Panahazari, Usman A. Khan, Shuchin AeronAbstract
A document modeled as a discrete sequence of tokens can be thought of as being generated from a composition of texts from different domains; a README file, for example, moves between prose, code, and configuration. When such a document is corrupted and only frozen domain experts are available, restoring it requires deciding both what is missing and which expert to trust at each position, at test time and without region labels or a trained router. We introduce evidence-aligned local composition, which infers a soft, position-wise weighting over the experts from the marginal evidence of the corrupted observation under a given corruption model, estimating the evidence from the experts' own denoising losses and smoothing the weights across positions. Because the weighting is soft, it recovers a mixture when the true composition is mixed and concentrates on one expert when that suffices. Across a categorical simulator, byte-level experts, and experts fine-tuned from a $1.3$B discrete flow-matching model, the inferred weights track the true regions at $0.85$ field accuracy on naturally mixed scientific documents, and at $0.98$ on constructed mixtures whose regions are lexically disjoint. Restoration improves over a single global weight when the experts are genuinely distinct and reduces to it when they converge, tracking a measure of expert separation.
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URL
https://arxiv.org/abs/2609.05801
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Diffusion TV: Experiencing Diffusion Models through Tangible, Embodied Interaction
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Diffusion TV is an interactive AI art installation that offers a tangible and embodied experience of diffusion models through a modified CRT TV. By physically manipulating the TV's antenna, audiences control the clarity of AI-generated images and sounds, metaphorically enacting the denoising process that underlies diffusion-based generation. Using the tuning knob, participants switch between three channels featuring AI-generated animals from the Past (extinct species), Present (endangered species), and Future (speculative creatures), situating the interaction within a temporal and ecological narrative. Through continuous audiovisual feedback and physical interaction, Diffusion TV foregrounds the generative process over final outputs, allowing audiences to explore intermediate states as experiential material. Rather than providing explicit technical explanation, the work presents an alternative, embodied mode of explainable AI that invites exploratory engagement with and reflection on generative technologies.
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URL
https://arxiv.org/abs/2609.05404
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PAPT++: Risk-Aware Adversarial Tuning and Generation for Single Domain Generalization
2026-09-04 07:54:30Zhipeng Xu, De Cheng, Xinyang Jiang, Lingfeng He, Huaijie Wang, Dongsheng Li, Nannan Wang, Xinbo GaoAbstract
Single domain generalization (SDG) aims to learn a model from one labeled source domain that generalizes to unseen target domains. A common strategy is to enrich the source distribution with augmented or generated samples, and recent text-to-image (T2I) diffusion models provide a strong generative prior for this purpose. However, diversity alone is insufficient for robust generalization, because useful generated samples should also capture variations that the current classifier finds difficult. Motivated by distributionally robust optimization (DRO), we define a semantic ambiguity set in the class-conditional generative space of a pretrained T2I model and search it for samples with high classification loss under the current classifier. To this end, we introduce PAPT++, a risk-aware adversarial generation-training framework for SDG. PAPT++ first learns diverse semantic reference images for each class through image-text alignment and intra-class diversity regularization. These references then serve as denoising targets during classifier-guided diffusion synthesis, reducing semantic drift while guiding generation toward challenging variations. The generated samples are combined with the source data to update the classifier, and the updated classifier guides the next synthesis round in return. In this way, PAPT++ progressively exposes the classifier to challenging yet semantically consistent variations. Extensive experiments on standard SDG benchmarks demonstrate the superiority of the proposed PAPT++ method and the effectiveness of its main components.
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URL
https://arxiv.org/abs/2609.04837
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Diffusion Language Models for Mobile Edge Agentic AI: Foundations, Applications, and Challenges
2026-09-04 06:16:49Chenqi Li, Minghui Min, Dusit Niyato, Wei NiAbstract
Diffusion language models (DLMs) offer a non-autoregressive alternative for mobile edge agentic artificial intelligence (AI) by refining tokens through iterative denoising rather than left-to-right decoding. Compared with autoregressive Transformer-based large language models (LLMs), DLMs can update multiple uncertain tokens in parallel and exploit bidirectional context throughout the generation process, enabling more flexible quality-latency trade-offs beyond fixed sequential decoding. These properties are particularly attractive for edge agents, where partial refinement, early exit, and constraint-guided correction can reduce response delay and communication overhead while improving robustness under noisy, incomplete, or dynamic contexts. This survey reviews DLM foundations and analyzes their suitability for edge settings under latency, memory, energy, bandwidth, privacy, and reliability constraints. We cover resource-efficient architectures, training and inference acceleration, compression, edge/cloud deployment, communication-aware serving, Internet of Things (IoT)/wireless applications, and evaluation of DLM-based agents. We further discuss open issues in long-context state management, split inference, trustworthy execution, multimodal grounding, and reproducible benchmarking. The goal is to connect DLM modeling properties, including bidirectionality, parallel refinement, controllability, and quality-latency elasticity, with system-level requirements of future mobile edge intelligence.
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URL
https://arxiv.org/abs/2609.04778
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Task-Aware Hybrid QUBO Optimization for Structured Neural Network Pruning
2026-09-04 01:26:23Osama Orabi, Artur Zagitov, Hadi Salloum, Viktor A. Lobachev, Yaroslav KholodovAbstract
Neural network pruning can be formulated as a combinatorial optimization problem, yet many existing approaches rely on independent filter-importance scores or simplified objective functions. In this work, we propose a Hybrid Quadratic Unconstrained Binary Optimization (QUBO) framework for structured filter pruning that combines task-aware sensitivity information with interactions between candidate filters. The formulation incorporates first-order Taylor sensitivity and Weight-Fisher sensitivity into the linear component of the objective and can additionally incorporate activation similarity into the quadratic interactions. To control the target pruning cardinality without introducing an explicit quadratic cardinality penalty, we use a binary search over the capacity incentive to identify a coefficient that empirically yields the target pruning cardinality. We further investigate a two-stage QUBO--Tensor-Train refinement strategy in which the QUBO solution initializes gradient-free probabilistic black-box optimization to search for improved pruning masks using the downstream metric. Experiments on the SIDD image denoising task and a Half-UNet model show that the Hybrid QUBO achieves higher PSNR and SSIM than the evaluated Taylor and L1-based QUBO baselines at the studied pruning target. Multi-seed experiments under a fixed dataset protocol are used to assess robustness, while controlled sub-problem experiments demonstrate that Tensor-Train refinement becomes increasingly valuable as the combinatorial problem size grows. The results support Hybrid QUBO as a task-aware structured pruning framework for the evaluated setting, while also highlighting the computational and deployment limitations of mask-based pruning.
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URL
https://arxiv.org/abs/2609.22238
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Discriminative Flow Matching: Beyond Time-Conditioning in Generative Restoration via Flow-State Representations
2026-09-03 22:28:55Shrishti Saha Shetu, Emanu\"el A. P. Habets, Andreas BrendelAbstract
Existing Conditional Flow Matching (CFM) formulations describe transport progress using an explicit interpolation coordinate, commonly interpreted as time, assuming that a single global variable adequately represents a sample's position along the generative trajectory. In restoration tasks, however, transport progress is sample-dependent because the initial distribution may exhibit varying statistical dependencies with the target distribution. Thus, samples at the same interpolation coordinate can differ substantially in degradation level, distance to the target distribution, and restoration difficulty. We investigate whether signal representations learned by discriminatively trained models provide a meaningful description of generative transport state in CFM-based restoration. Through systematic latent-space analysis, we show that discriminative representations organize according to degradation severity and follow a consistent trajectory toward the clean-data manifold during generation. Motivated by these observations, we introduce the Discriminative Flow-State Hypothesis, which posits that discriminative representations encode a transport state governing generative restoration. Based on this hypothesis, we propose Discriminative Flow Matching, which conditions the Flow-Matching velocity field on Discriminative Flow-State Representations rather than explicit time coordinates. Experiments on speech enhancement and image denoising show that these representations characterize restoration progress, enable adaptive inference, and consistently outperform CFM and diffusion-related baselines. Our findings suggest that discriminative representations provide an effective state-aware alternative to explicit time conditioning and offer a novel perspective on the relationship between discriminative and CFM-based generative modeling.
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URL
https://arxiv.org/abs/2609.04525
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Pitch-class Steering for Diffusion-based Music Generation via Latent-space Probes
2026-09-03 22:07:18Yushi Ye, Wilson Zheng, Yongyi ZangAbstract
Recent work on controllable music generation has focused on autoregressive models, leaving diffusion-based systems comparatively underexplored. We present a lightweight method for steering the pitch content of audio produced by Stable Audio Open, a latent diffusion model for music synthesis. A small convolutional probe containing approximately 125k parameters is trained to decode frame-level pitch-class activations from the model's variational autoencoder latent space, using paired audio and MIDI data. At inference time, the frozen probe serves as a differentiable loss function: its gradient with respect to the denoising latent is used to nudge generation toward a user-specified pitch-class sequence, requiring no retraining or architectural modification of the base model. Across 27 evaluation trials spanning 9 text prompts and 3 target melodies, probe-guided generation increases melodic coherence by 2.4x over the unguided baseline (p < 1e-5, Wilcoxon signed-rank test), demonstrating that musically meaningful structure is both recoverable and steerable in diffusion-based music latent spaces.
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URL
https://arxiv.org/abs/2609.04516
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EyeMakeYou: Identity-, Task-, and Subjective-State-Conditioned Diffusion for High-Frequency Gaze Synthesis
2026-09-03 21:41:30Kamrul Hasan, Mehedi Hasan Raju, Oleg V. KomogortsevAbstract
Eye movement biometrics (EMB) is an emerging behavioral modality for user authentication, particularly in virtual- and augmented-reality systems, where gaze dynamics contain distinctive subject-specific features. However, robust EMB systems require diverse, high-quality gaze recordings that are expensive to collect and often unavailable at the scale needed for model development. Generative models can mitigate data scarcity, but existing methods either synthesize generic gaze behavior or personalize signals primarily by identity, without jointly representing the user's task and subjective state. Consequently, generated signals may appear visually realistic while failing to retain the behavioral properties required for biometric applications. To address this limitation, we propose EyeMakeYou, a multi-conditional denoising diffusion framework for subject-specific, high-frequency gaze synthesis. EyeMakeYou generates 5-s, 1000-Hz bivariate gaze-velocity sequences from an identity-removed reference trajectory and conditions the denoising process on an identity embedding, a task embedding, and self-reported ratings of overall difficulty, mental tiredness, and eye tiredness. Its objective combines diffusion noise prediction and identity preservation with multi-resolution spectral, drift-consistency, and event-weighted local-smoothness losses. Experiments on GazeBase show that EyeMakeYou achieves higher median spatial accuracy and greater real--synthetic similarity in the embedding feature space than the existing generative approaches, while retaining selected task-dependent associations between subjective reports and oculomotor features. These findings support conditional diffusion as a practical approach for augmenting gaze datasets for biometric and interactive applications.
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URL
https://arxiv.org/abs/2609.04501
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DSAQuant: Denoising-Stage-Aligned Quantization-Aware Training for Video Generation
2026-09-03 16:09:25Shuaiting Li, Zelin Gao, Haibin Shen, Yujun Shen, Haotong Qin, Yinghao XuAbstract
Video diffusion models (VDMs) have achieved impressive progress in text-to-video generation, but their high memory and computational costs hinder practical deployment. Quantization-aware training (QAT) is an effective solution for compressing and accelerating advanced generative models without runtime overhead at inference. However, existing QAT methods suffer from a distinctive challenge in VDMs: while they often preserve prompt semantics, global layout, and coarse motion, the quantized model severely degrades visual details, texture fidelity, and sharpness. In this paper, we trace this degradation to the timestep-agnostic design of conventional quantization pipelines, which overlooks the stage-wise functionality of video denoising. In VDMs, early denoising steps mainly establish global structure and motion, whereas middle and late steps refine local appearance and high-frequency details. Based on this insight, we propose DSAQuant, a Denoising-Stage-Aligned Quantization-aware training framework for VDMs. During training, Denoising-Stage Oriented Supervision preserves teacher distillation in early steps for stable structure planning, while shifting later steps toward target-driven optimization to enhance detail reconstruction. During inference, Denoising-Stage Gated Guidance disables CFG in the final denoising steps to prevent it from amplifying quantization-induced errors into high-frequency artifacts. Extensive experiments on the Wan and CogVideoX families under W4A4 and W3A3 settings show that DSAQuant consistently outperforms the SOTA QAT baseline, improving the VBench average score by up to 6.60 under aggressive W3A3 quantization while preserving strong text-video alignment. These results demonstrate that effective VDM quantization requires not only reducing quantization error, but also aligning quantization training and inference with the stage-wise nature of video diffusion.
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URL
https://arxiv.org/abs/2609.04031
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ToPO: Token-Conditioned Preference Routing for Attention-Based Latent Diffusion Models
2026-09-03 11:24:08Juntao Xu, Shihong Li, Hoi Fan Au, Ning ZhuAbstract
Pairwise preference labels rank complete images, yet Diffusion-DPO applies their effect over many spatial and denoising-time coordinates. For attention-based, noise-prediction latent diffusion, ToPO (Token-Oriented Preference Optimization) constructs a per-minibatch, detached, separable spatial-temporal route from branchwise squared-residual contrast in a frozen reference denoiser. Preferred-branch cross-attention uses content tokens to modulate the spatial factor, and an auxiliary pixel-midpoint ordering term is added without local labels or a learned reward model. In matched three-seed retrainings with a shared update schedule, ToPO has higher endpoint estimates than Diffusion-DPO on all five reported SD-1.5 metrics and on HPSv2, ImageReward, and CLIP for SDXL. It also receives larger raw win shares in an aggregate blind SDXL A/B study. These findings are scoped to the reported equal-update U-Net protocols rather than an equal-compute comparison.
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https://arxiv.org/abs/2609.03688
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SV-WAM: An Efficient Surround-View World-Action Model for End-to-End Autonomous Driving
2026-09-03 09:47:51Jinyang Wang, Shiwei Li, Junjian Wang, Zhiqiang Deng, Jianbin Gao, Yihang Zhao, Liu Liu, Yongjia Zhao, Jinlong Chen, Huirui Xu, Yifeng Pan, Kangwei Liu, Fan Ren, Ji Tao, Minghao YangAbstract
World models (WMs) have demonstrated strong potential for end-to-end autonomous driving by learning predictive representations of future scene dynamics. However, generating future videos during inference introduces substantial computational overhead, leading many recent driving WMs to adopt a single front camera as input for efficient deployment. This design restricts spatial coverage in safety-critical maneuvers such as lane changes, merges, and turns. To address this limitation, we propose SV-WAM, a surround-view world-action model (WAM) that preserves full six-camera observations while maintaining efficient inference. SV-WAM leverages future-video prediction as dense training supervision for action learning within a shared generative model, rather than as an inference-time output. At the core of this design is an action-centered causal mask that prevents action tokens from attending to future-video tokens during joint action-video denoising. Consequently, the video branch can be discarded at deployment, enabling efficient action-only planning. Furthermore, we introduce a differentiable drivable-area compliance regularizer that penalizes vehicle-footprint corners approaching or crossing drivable boundaries, improving planning safety and boundary awareness. Extensive experiments on the closed-loop NAVSIMv2 benchmark and the open-loop nuScenes benchmark demonstrate that SV-WAM achieves state-of-the-art planning performance with low inference latency and competitive zero-shot transfer capability.
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https://arxiv.org/abs/2609.03602
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