Daily Papers

Generative models have emerged as a major paradigm for offline multi-agent reinforcement learning (MARL), but existing approaches require many iterative sampling steps. Recent few-step accelerations either distill a joint teacher into independent students or apply averaged velocities independently per agent, suggesting that few-step inference requires sacrificing inter-agent coordination. We show this trade-off is not necessary: single-pass multi-agent generation can preserve coordination when the velocity field is natively joint-coupled. We propose Coordinated few-step Flow (CoFlow), an architecture that combines Coordinated Velocity Attention (CVA) with Adaptive Coordination Gating. A finite-difference consistency surrogate further replaces memory-prohibitive Jacobian-vector product backpropagation through the averaged velocity field with two stop-gradient forward passes. Across 60 configurations spanning MPE, MA-MuJoCo, and SMAC, CoFlow matches or surpasses Gaussian / value-based, transformer, diffusion, and prior flow baselines on episodic return. Three independent coordination probes confirm that the gains flow through inter-agent coordination rather than per-agent capacity. A denoising-step sweep shows that single-pass inference suffices on every configuration. CoFlow reaches state-of-the-art coordination quality in 1-3 denoising steps under both centralized and decentralized execution. Project page: https://github.com/Guowei-Zou/coflow.

Recently slot filling has witnessed great development thanks to deep learning and the availability of large-scale annotated data. However, it poses a critical challenge to handle a novel domain whose samples are never seen during training. The recognition performance might be greatly degraded due to severe domain shifts. Most prior works deal with this problem in a two-pass pipeline manner based on metric learning. In practice, these dominant pipeline models may be limited in computational efficiency and generalization capacity because of non-parallel inference and context-free discrete label embeddings. To this end, we re-examine the typical metric-based methods, and propose a new adaptive end-to-end metric learning scheme for the challenging zero-shot slot filling. Considering simplicity, efficiency and generalizability, we present a cascade-style joint learning framework coupled with context-aware soft label representations and slot-level contrastive representation learning to mitigate the data and label shift problems effectively. Extensive experiments on public benchmarks demonstrate the superiority of the proposed approach over a series of competitive baselines.

Modifications to test-time sampling have emerged as an important extension to diffusion algorithms, with the goal of biasing the generative process to achieve a given objective without having to retrain the entire diffusion model. However, generating jointly correlated samples from multiple pre-trained diffusion models while simultaneously enforcing task-specific constraints without costly retraining has remained challenging. To this end, we propose Projected Coupled Diffusion (PCD), a novel test-time framework for constrained joint generation. PCD introduces a coupled guidance term into the generative dynamics to encourage coordination between diffusion models and incorporates a projection step at each diffusion step to enforce hard constraints. Empirically, we demonstrate the effectiveness of PCD in application scenarios of image-pair generation, object manipulation, and multi-robot motion planning. Our results show improved coupling effects and guaranteed constraint satisfaction without incurring excessive computational costs.

The intrinsic link between facial motion and speech is often overlooked in generative modeling, where talking head synthesis and text-to-speech (TTS) are typically addressed as separate tasks. This paper introduces JAM-Flow, a unified framework to simultaneously synthesize and condition on both facial motion and speech. Our approach leverages flow matching and a novel Multi-Modal Diffusion Transformer (MM-DiT) architecture, integrating specialized Motion-DiT and Audio-DiT modules. These are coupled via selective joint attention layers and incorporate key architectural choices, such as temporally aligned positional embeddings and localized joint attention masking, to enable effective cross-modal interaction while preserving modality-specific strengths. Trained with an inpainting-style objective, JAM-Flow supports a wide array of conditioning inputs-including text, reference audio, and reference motion-facilitating tasks such as synchronized talking head generation from text, audio-driven animation, and much more, within a single, coherent model. JAM-Flow significantly advances multi-modal generative modeling by providing a practical solution for holistic audio-visual synthesis. project page: https://joonghyuk.com/jamflow-web

This paper introduces GenCorres, a novel unsupervised joint shape matching (JSM) approach. Our key idea is to learn a mesh generator to fit an unorganized deformable shape collection while constraining deformations between adjacent synthetic shapes to preserve geometric structures such as local rigidity and local conformality. GenCorres presents three appealing advantages over existing JSM techniques. First, GenCorres performs JSM among a synthetic shape collection whose size is much bigger than the input shapes and fully leverages the datadriven power of JSM. Second, GenCorres unifies consistent shape matching and pairwise matching (i.e., by enforcing deformation priors between adjacent synthetic shapes). Third, the generator provides a concise encoding of consistent shape correspondences. However, learning a mesh generator from an unorganized shape collection is challenging, requiring a good initialization. GenCorres addresses this issue by learning an implicit generator from the input shapes, which provides intermediate shapes between two arbitrary shapes. We introduce a novel approach for computing correspondences between adjacent implicit surfaces, which we use to regularize the implicit generator. Synthetic shapes of the implicit generator then guide initial fittings (i.e., via template-based deformation) for learning the mesh generator. Experimental results show that GenCorres considerably outperforms state-of-the-art JSM techniques. The synthetic shapes of GenCorres also achieve salient performance gains against state-of-the-art deformable shape generators.

Semantic image synthesis enables control over unconditional image generation by allowing guidance on what is being generated. We conditionally synthesize the latent space from a vector quantized model (VQ-model) pre-trained to autoencode images. Instead of training an autoregressive Transformer on separately learned conditioning latents and image latents, we find that jointly learning the conditioning and image latents significantly improves the modeling capabilities of the Transformer model. While our jointly trained VQ-model achieves a similar reconstruction performance to a vanilla VQ-model for both semantic and image latents, tying the two modalities at the autoencoding stage proves to be an important ingredient to improve autoregressive modeling performance. We show that our model improves semantic image synthesis using autoregressive models on popular semantic image datasets ADE20k, Cityscapes and COCO-Stuff.

Reliable multi-agent trajectory prediction is crucial for the safe planning and control of autonomous systems. Compared with single-agent cases, the major challenge in simultaneously processing multiple agents lies in modeling complex social interactions caused by various driving intentions and road conditions. Previous methods typically leverage graph-based message propagation or attention mechanism to encapsulate such interactions in the format of marginal probabilistic distributions. However, it is inherently sub-optimal. In this paper, we propose IPCC-TP, a novel relevance-aware module based on Incremental Pearson Correlation Coefficient to improve multi-agent interaction modeling. IPCC-TP learns pairwise joint Gaussian Distributions through the tightly-coupled estimation of the means and covariances according to interactive incremental movements. Our module can be conveniently embedded into existing multi-agent prediction methods to extend original motion distribution decoders. Extensive experiments on nuScenes and Argoverse 2 datasets demonstrate that IPCC-TP improves the performance of baselines by a large margin.

Real-world video restoration is plagued by complex degradations from motion coupled with dynamically varying exposure - a key challenge largely overlooked by prior works and a common artifact of auto-exposure or low-light capture. We present FMA-Net++, a framework for joint video super-resolution and deblurring that explicitly models this coupled effect of motion and dynamically varying exposure. FMA-Net++ adopts a sequence-level architecture built from Hierarchical Refinement with Bidirectional Propagation blocks, enabling parallel, long-range temporal modeling. Within each block, an Exposure Time-aware Modulation layer conditions features on per-frame exposure, which in turn drives an exposure-aware Flow-Guided Dynamic Filtering module to infer motion- and exposure-aware degradation kernels. FMA-Net++ decouples degradation learning from restoration: the former predicts exposure- and motion-aware priors to guide the latter, improving both accuracy and efficiency. To evaluate under realistic capture conditions, we introduce REDS-ME (multi-exposure) and REDS-RE (random-exposure) benchmarks. Trained solely on synthetic data, FMA-Net++ achieves state-of-the-art accuracy and temporal consistency on our new benchmarks and GoPro, outperforming recent methods in both restoration quality and inference speed, and generalizes well to challenging real-world videos.

Despite the rapid advancements in Artificial Intelligence (AI), Stochastic Differential Equations (SDEs) remain the gold-standard formalism for modeling systems under uncertainty. However, applying SDEs in practice is fraught with challenges: modeling risk is high, calibration is often brittle, and high-fidelity simulations are computationally expensive. This technical report introduces JointFM, a foundation model that inverts this paradigm. Instead of fitting SDEs to data, we sample an infinite stream of synthetic SDEs to train a generic model to predict future joint probability distributions directly. This approach establishes JointFM as the first foundation model for distributional predictions of coupled time series - requiring no task-specific calibration or finetuning. Despite operating in a purely zero-shot setting, JointFM reduces the energy loss by 14.2% relative to the strongest baseline when recovering oracle joint distributions generated by unseen synthetic SDEs.

Building credible simulators from data is difficult because structure design, parameter calibration, and out-of-distribution (OOD) robustness are tightly coupled. We introduce SOCIA (Simulation Orchestration for Computational Intelligence with Agents), a framework that treats simulator construction as joint structure-parameter co-optimization: it elicits mechanism-rich blueprints, exposes explicit tunable parameters, and instantiates a calibration schema, producing an executable simulator with built-in calibration hooks. SOCIA couples Bayesian Optimization for sample-efficient point calibration with Simulation-Based Inference for uncertainty-aware fitting; diagnostics trigger targeted structural edits in an outer refinement loop to co-optimize design and parameters under tight budgets. Across three diverse tasks, SOCIA consistently outperforms strong baselines, excelling on both in-distribution (ID) fitting and OOD shift. Ablations that weaken structure, calibration design, or tuning yield near-monotone degradations, underscoring the necessity of unified structure-parameter optimization. We will release the code soon.

Recent text-to-video diffusion models can generate compelling video sequences, yet they remain silent -- missing the semantic, emotional, and atmospheric cues that audio provides. We introduce LTX-2, an open-source foundational model capable of generating high-quality, temporally synchronized audiovisual content in a unified manner. LTX-2 consists of an asymmetric dual-stream transformer with a 14B-parameter video stream and a 5B-parameter audio stream, coupled through bidirectional audio-video cross-attention layers with temporal positional embeddings and cross-modality AdaLN for shared timestep conditioning. This architecture enables efficient training and inference of a unified audiovisual model while allocating more capacity for video generation than audio generation. We employ a multilingual text encoder for broader prompt understanding and introduce a modality-aware classifier-free guidance (modality-CFG) mechanism for improved audiovisual alignment and controllability. Beyond generating speech, LTX-2 produces rich, coherent audio tracks that follow the characters, environment, style, and emotion of each scene -- complete with natural background and foley elements. In our evaluations, the model achieves state-of-the-art audiovisual quality and prompt adherence among open-source systems, while delivering results comparable to proprietary models at a fraction of their computational cost and inference time. All model weights and code are publicly released.

We propose the first joint audio-video generation framework that brings engaging watching and listening experiences simultaneously, towards high-quality realistic videos. To generate joint audio-video pairs, we propose a novel Multi-Modal Diffusion model (i.e., MM-Diffusion), with two-coupled denoising autoencoders. In contrast to existing single-modal diffusion models, MM-Diffusion consists of a sequential multi-modal U-Net for a joint denoising process by design. Two subnets for audio and video learn to gradually generate aligned audio-video pairs from Gaussian noises. To ensure semantic consistency across modalities, we propose a novel random-shift based attention block bridging over the two subnets, which enables efficient cross-modal alignment, and thus reinforces the audio-video fidelity for each other. Extensive experiments show superior results in unconditional audio-video generation, and zero-shot conditional tasks (e.g., video-to-audio). In particular, we achieve the best FVD and FAD on Landscape and AIST++ dancing datasets. Turing tests of 10k votes further demonstrate dominant preferences for our model. The code and pre-trained models can be downloaded at https://github.com/researchmm/MM-Diffusion.

Reinforcement learning (RL) has increasingly been applied to solve real-world planning problems, with progress in handling large state spaces and time horizons. However, a key bottleneck in many domains is that RL methods cannot accommodate large, combinatorially structured action spaces. In such settings, even representing the set of feasible actions at a single step may require a complex discrete optimization formulation. We leverage recent advances in embedding trained neural networks into optimization problems to propose SEQUOIA, an RL algorithm that directly optimizes for long-term reward over the feasible action space. Our approach embeds a Q-network into a mixed-integer program to select a combinatorial action in each timestep. Here, we focus on planning over restless bandits, a class of planning problems which capture many real-world examples of sequential decision making. We introduce coRMAB, a broader class of restless bandits with combinatorial actions that cannot be decoupled across the arms of the restless bandit, requiring direct solving over the joint, exponentially large action space. We empirically validate SEQUOIA on four novel restless bandit problems with combinatorial constraints: multiple interventions, path constraints, bipartite matching, and capacity constraints. Our approach significantly outperforms existing methods -- which cannot address sequential planning and combinatorial selection simultaneously -- by an average of 24.8\% on these difficult instances.

Video Highlight Detection and Moment Retrieval (HD/MR) are essential in video analysis. Recent joint prediction transformer models often overlook their cross-task dynamics and video-text alignment and refinement. Moreover, most models typically use limited, uni-directional attention mechanisms, resulting in weakly integrated representations and suboptimal performance in capturing the interdependence between video and text modalities. Although large-language and vision-language models (LLM/LVLMs) have gained prominence across various domains, their application in this field remains relatively underexplored. Here we propose VideoLights, a novel HD/MR framework addressing these limitations through (i) Convolutional Projection and Feature Refinement modules with an alignment loss for better video-text feature alignment, (ii) Bi-Directional Cross-Modal Fusion network for strongly coupled query-aware clip representations, and (iii) Uni-directional joint-task feedback mechanism enhancing both tasks through correlation. In addition, (iv) we introduce hard positive/negative losses for adaptive error penalization and improved learning, and (v) leverage LVLMs like BLIP-2 for enhanced multimodal feature integration and intelligent pretraining using synthetic data generated from LVLMs. Comprehensive experiments on QVHighlights, TVSum, and Charades-STA benchmarks demonstrate state-of-the-art performance. Codes and models are available at https://github.com/dpaul06/VideoLights .

Efficient deployment of Large Language Models (LLMs) requires batching multiple requests together to improve throughput. As the batch size, context length, or model size increases, the size of the key and value (KV) cache can quickly become the main contributor to GPU memory usage and the bottleneck of inference latency. Quantization has emerged as an effective technique for KV cache compression, but existing methods still fail at very low bit widths. We observe that distinct channels of a key/value activation embedding are highly inter-dependent, and the joint entropy of multiple channels grows at a slower rate than the sum of their marginal entropies. Based on this insight, we propose Coupled Quantization (CQ), which couples multiple key/value channels together to exploit their inter-dependency and encode the activations in a more information-efficient manner. Extensive experiments reveal that CQ outperforms or is competitive with existing baselines in preserving model quality. Furthermore, we demonstrate that CQ can preserve model quality with KV cache quantized down to 1-bit.

Score Distillation Sampling (SDS) leverages pretrained 2D diffusion models to advance text-to-3D generation but neglects multi-view correlations, being prone to geometric inconsistencies and multi-face artifacts in the generated 3D content. In this work, we propose Coupled Score Distillation (CSD), a framework that couples multi-view joint distribution priors to ensure geometrically consistent 3D generation while enabling the stable and direct optimization of 3D Gaussian Splatting. Specifically, by reformulating the optimization as a multi-view joint optimization problem, we derive an effective optimization rule that effectively couples multi-view priors to guide optimization across different viewpoints while preserving the diversity of generated 3D assets. Additionally, we propose a framework that directly optimizes 3D Gaussian Splatting (3D-GS) with random initialization to generate geometrically consistent 3D content. We further employ a deformable tetrahedral grid, initialized from 3D-GS and refined through CSD, to produce high-quality, refined meshes. Quantitative and qualitative experimental results demonstrate the efficiency and competitive quality of our approach.

Game development sits at the intersection of creative design and intricate software engineering, demanding the joint orchestration of game engines, real-time loops, and tightly coupled state across many files. While Large Language Models (LLMs) and code agents now solve isolated programming tasks with ease, they consistently stumble when asked to produce a fully playable game from a high-level design, collapsing under cross-file inconsistencies, broken scene wiring, and logical incoherence. We bridge this gap with OpenGame, the first open-source agentic framework explicitly designed for end-to-end web game creation. At its core lies Game Skill, a reusable, evolving capability composed of a Template Skill that grows a library of project skeletons from experience and a Debug Skill that maintains a living protocol of verified fixes - together enabling the agent to scaffold stable architectures and systematically repair integration errors rather than patch isolated syntax bugs. Powering this framework is GameCoder-27B, a code LLM specialized for game engine mastery through a three-stage pipeline of continual pre-training, supervised fine-tuning, and execution-grounded reinforcement learning. Since verifying interactive playability is fundamentally harder than checking static code, we further introduce OpenGame-Bench, an evaluation pipeline that scores agentic game generation along Build Health, Visual Usability, and Intent Alignment via headless browser execution and VLM judging. Across 150 diverse game prompts, OpenGame establishes a new state-of-the-art. We hope OpenGame pushes code agents beyond discrete software engineering problems and toward building complex, interactive real-world applications. Our framework will be fully open-sourced.

Weakly supervised semantic segmentation aims to achieve pixel-level predictions using image-level labels. Existing methods typically entangle semantic recognition and object localization, which often leads models to focus exclusively on sparse discriminative regions. Although foundation models show immense potential, many approaches still follow the tightly coupled optimization paradigm, struggling to effectively alleviate pseudo-label noise and often relying on time-consuming multi-stage retraining or unstable end-to-end joint optimization. To address the above challenges, we present ModuSeg, a training-free weakly supervised semantic segmentation framework centered on explicitly decoupling object discovery and semantic assignment. Specifically, we integrate a general mask proposer to extract geometric proposals with reliable boundaries, while leveraging semantic foundation models to construct an offline feature bank, transforming segmentation into a non-parametric feature retrieval process. Furthermore, we propose semantic boundary purification and soft-masked feature aggregation strategies to effectively mitigate boundary ambiguity and quantization errors, thereby extracting high-quality category prototypes. Extensive experiments demonstrate that the proposed decoupled architecture better preserves fine boundaries without parameter fine-tuning and achieves highly competitive performance on standard benchmark datasets. Code is available at https://github.com/Autumnair007/ModuSeg.

We propose V-Droid, a mobile GUI task automation agent. Unlike previous mobile agents that utilize Large Language Models (LLMs) as generators to directly generate actions at each step, V-Droid employs LLMs as verifiers to evaluate candidate actions before making final decisions. To realize this novel paradigm, we introduce a comprehensive framework for constructing verifier-driven mobile agents: the discretized action space construction coupled with the prefilling-only workflow to accelerate the verification process, the pair-wise progress preference training to significantly enhance the verifier's decision-making capabilities, and the scalable human-agent joint annotation scheme to efficiently collect the necessary data at scale. V-Droid sets a new state-of-the-art task success rate across several public mobile task automation benchmarks: 59.5% on AndroidWorld, 38.3% on AndroidLab, and 49% on MobileAgentBench, surpassing existing agents by 9.5%, 2.1%, and 9%, respectively. Furthermore, V-Droid achieves an impressively low latency of 0.7 seconds per step, making it the first mobile agent capable of delivering near-real-time, effective decision-making capabilities.

The rapid growth of e-commerce calls for multimodal models that comprehend rich visual and textual product information. Although recent multimodal large language models (MLLMs) for product understanding exhibit strong capability in representation learning for e-commerce, they still face three challenges: (i) the modality imbalance induced by modality mixed training; (ii) underutilization of the intrinsic alignment relationships among visual and textual information within a product; and (iii) limited handling of noise in e-commerce multimodal data. To address these, we propose MOON2.0, a dynamic modality-balanced multimodal representation learning framework for e-commerce product understanding. MOON2.0 comprises: (1) a Modality-driven Mixture-of-Experts (MoE) module that adaptively processes input samples by their modality composition, enabling Multimodal Joint Learning to mitigate the modality imbalance; (2) a Dual-level Alignment method to better leverage semantic alignment properties inside individual products; and (3) an MLLM-based Image-text Co-augmentation strategy that integrates textual enrichment with visual expansion, coupled with Dynamic Sample Filtering to improve training data quality. We further introduce MBE2.0, a co-augmented multimodal representation benchmark for e-commerce representation learning and evaluation. Experiments show that MOON2.0 delivers state-of-the-art zero-shot performance on MBE2.0 and multiple public datasets. Furthermore, attention-based heatmap visualization provides qualitative evidence of improved multimodal alignment of MOON2.0.

Many skeletal action recognition models use GCNs to represent the human body by 3D body joints connected body parts. GCNs aggregate one- or few-hop graph neighbourhoods, and ignore the dependency between not linked body joints. We propose to form hypergraph to model hyper-edges between graph nodes (e.g., third- and fourth-order hyper-edges capture three and four nodes) which help capture higher-order motion patterns of groups of body joints. We split action sequences into temporal blocks, Higher-order Transformer (HoT) produces embeddings of each temporal block based on (i) the body joints, (ii) pairwise links of body joints and (iii) higher-order hyper-edges of skeleton body joints. We combine such HoT embeddings of hyper-edges of orders 1, ..., r by a novel Multi-order Multi-mode Transformer (3Mformer) with two modules whose order can be exchanged to achieve coupled-mode attention on coupled-mode tokens based on 'channel-temporal block', 'order-channel-body joint', 'channel-hyper-edge (any order)' and 'channel-only' pairs. The first module, called Multi-order Pooling (MP), additionally learns weighted aggregation along the hyper-edge mode, whereas the second module, Temporal block Pooling (TP), aggregates along the temporal block mode. Our end-to-end trainable network yields state-of-the-art results compared to GCN-, transformer- and hypergraph-based counterparts.

Hand-Object Interaction (HOI) generation plays a critical role in advancing applications across animation and robotics. Current video-based methods are predominantly single-view, which impedes comprehensive 3D geometry perception and often results in geometric distortions or unrealistic motion patterns. While 3D HOI approaches can generate dynamically plausible motions, their dependence on high-quality 3D data captured in controlled laboratory settings severely limits their generalization to real-world scenarios. To overcome these limitations, we introduce SyncMV4D, the first model that jointly generates synchronized multi-view HOI videos and 4D motions by unifying visual prior, motion dynamics, and multi-view geometry. Our framework features two core innovations: (1) a Multi-view Joint Diffusion (MJD) model that co-generates HOI videos and intermediate motions, and (2) a Diffusion Points Aligner (DPA) that refines the coarse intermediate motion into globally aligned 4D metric point tracks. To tightly couple 2D appearance with 4D dynamics, we establish a closed-loop, mutually enhancing cycle. During the diffusion denoising process, the generated video conditions the refinement of the 4D motion, while the aligned 4D point tracks are reprojected to guide next-step joint generation. Experimentally, our method demonstrates superior performance to state-of-the-art alternatives in visual realism, motion plausibility, and multi-view consistency.

Joint audio-video generation models have shown that unified generation yields stronger cross-modal coherence than cascaded approaches. However, existing models couple modalities throughout denoising via pervasive attention, treating high-level semantics and low-level details in a fully entangled manner. This is suboptimal for talking head synthesis: while audio and facial motion are semantically correlated, their low-level realizations (acoustic signals and visual textures) follow distinct rendering processes. Enforcing joint modeling across all levels causes unnecessary entanglement and reduces efficiency. We propose Talker-T2AV, an autoregressive diffusion framework where high-level cross-modal modeling occurs in a shared backbone, while low-level refinement uses modality-specific decoders. A shared autoregressive language model jointly reasons over audio and video in a unified patch-level token space. Two lightweight diffusion transformer heads decode the hidden states into frame-level audio and video latents. Experiments on talking portrait benchmarks show Talker-T2AV outperforms dual-branch baselines in lip-sync accuracy, video quality, and audio quality, achieving stronger cross-modal consistency than cascaded pipelines.

Vision-Language-Action (VLA) models have achieved remarkable progress in robotic manipulation by mapping multimodal observations and instructions directly to actions. However, they typically mimic expert trajectories without predictive motion reasoning, which limits their ability to reason about what actions to take. To address this limitation, we propose joint learning with motion image diffusion, a novel strategy that enhances VLA models with motion reasoning capabilities. Our method extends the VLA architecture with a dual-head design: while the action head predicts action chunks as in vanilla VLAs, an additional motion head, implemented as a Diffusion Transformer (DiT), predicts optical-flow-based motion images that capture future dynamics. The two heads are trained jointly, enabling the shared VLM backbone to learn representations that couple robot control with motion knowledge. This joint learning builds temporally coherent and physically grounded representations without modifying the inference pathway of standard VLAs, thereby maintaining test-time latency. Experiments in both simulation and real-world environments demonstrate that joint learning with motion image diffusion improves the success rate of pi-series VLAs to 97.5% on the LIBERO benchmark and 58.0% on the RoboTwin benchmark, yielding a 23% improvement in real-world performance and validating its effectiveness in enhancing the motion reasoning capability of large-scale VLAs.

Modern transformer architectures achieve remarkable performance across tasks and domains but remain rigid in how they allocate computation at inference time. Real-world deployment often requires models to adapt to diverse hardware and latency constraints, yet most approaches to dynamic computation focus on a single axis -- such as reducing the number of tokens. We present a novel capability: AdaPerceiver, the first transformer architecture with unified adaptivity across depth, width, and tokens within a single model. We propose an architecture that supports adaptivity along these axes. We couple this with an efficient joint training regime that ensures the model maintains performance across its various configurations. We evaluate AdaPerceiver on image classification, semantic segmentation, and depth estimation tasks. On image classification, AdaPerceiver expands the accuracy-throughput Pareto front. It achieves 85.4% accuracy while yielding 36% higher throughput than FlexiViT-L. On dense prediction, AdaPerceiver matches ViT-H/14 while having sim26x fewer encoder FLOPs (floating-point operations) on semantic segmentation and depth estimation. Finally, we show how AdaPerceiver equipped with a policy can maintain ImageNet1K accuracy (pm0.1 percentage points) while reducing FLOPs by 24-33%.

Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined physics or data-driven dynamics without robot-conditioned control, limiting accuracy, stability, and generalization. This paper presents SoMA, a 3D Gaussian Splat simulator for soft-body manipulation. SoMA couples deformable dynamics, environmental forces, and robot joint actions in a unified latent neural space for end-to-end real-to-sim simulation. Modeling interactions over learned Gaussian splats enables controllable, stable long-horizon manipulation and generalization beyond observed trajectories without predefined physical models. SoMA improves resimulation accuracy and generalization on real-world robot manipulation by 20%, enabling stable simulation of complex tasks such as long-horizon cloth folding.

In this work, we propose Mutual Forcing, a framework for fast autoregressive audio-video generation with long-horizon audio-video synchronization. Our approach addresses two key challenges: joint audio-video modeling and fast autoregressive generation. To ease joint audio-video optimization, we adopt a two-stage training strategy: we first train uni-modal generators and then couple them into a unified audio-video model for joint training on paired data. For streaming generation, we ask whether a native fast causal audio-video model can be trained directly, instead of following existing streaming distillation pipelines that typically train a bidirectional model first and then convert it into a causal generator through multiple distillation stages. Our answer is Mutual Forcing, which builds directly on native autoregressive model and integrates few-step and multi-step generation within a single weight-shared model, enabling self-distillation and improved training-inference consistency. The multi-step mode improves the few-step mode via self-distillation, while the few-step mode generates historical context during training to improve training-inference consistency; because the two modes share parameters, these two effects reinforce each other within a single model. Compared with prior approaches such as Self-Forcing, Mutual Forcing removes the need for an additional bidirectional teacher model, supports more flexible training sequence lengths, reduces training overhead, and allows the model to improve directly from real paired data rather than a fixed teacher. Experiments show that Mutual Forcing matches or surpasses strong baselines that require around 50 sampling steps while using only 4 to 8 steps, demonstrating substantial advantages in both efficiency and quality. The project page is available at https://mutualforcing.github.io.