Search: “trajectory-modeling”

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Dynin-Robotics: Omnimodal Unified Diffusion Vision-Language-Action Model

Dynin-Robotics omnimodal diffusion vision-language-action model unifies action, dynamics, and goal prediction, reaching 78.4% success on Franka tasks.

Dynin-Robotics builds a shared trajectory model on the Dynin-Omni omnimodal masked-diffusion backbone, representing language, observations, goals, and actions as discrete tokens. One model learns action prediction, action-conditioned next-observation prediction, terminal goal-state prediction, and trajectory-to-instruction reconstruction, enabling test-time scaling through goal prediction and joint refinement. It is continually pretrained on approximately 1.33 million trajectories from 48 Open X-Embodiment datasets and achieves competitive performance on LIBERO and zero-shot LIBERO-Plus plus a 78.4% average success rate across four manipulation conditions on a Franka Research 3 robot. An optimized block-parallel implementation accelerates model-side action decoding by up to 29.2x.

arXiv cs.AI / cs.LG / cs.CL·Sep 11, 16:49 UTC · 4d agoAI research 2 sources1

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Memory as Plans: World-Action Modeling with Memory-Grounded Planning

Researchers introduce MaP-WAM, decomposing memory-dependent robot manipulation into memory-grounded planning and plan-conditioned execution, achieving 83.3% on RMBench and 78% on real robots.

MaP-WAM converts long-term multimodal episodic memory — segment records with language instructions and sparse visual context — into compact plans of next-segment language goals and visual guidance. A World-Action-Progress model jointly predicts action chunks and execution progress, calibrating predictions via plan-observation alignment for adaptive segment transitions and closed-loop context updates. Structured attention keeps the executor context length fixed and enables key-value caching, yielding state-of-the-art 83.3% success on RMBench, 78.0% on real-robot tasks, and roughly constant inference latency as task history grows.

Hugging Face daily papers·Sep 9, 20:00 UTC · 6d agoAI research

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RoboSPA: Can VLA Models Go Beyond Simple Scenes and Short-Horizon Tasks?

RoboSPA introduces a 527K-trajectory robotic benchmark with 280 task variants exposing VLA model weaknesses in spatial reasoning and long-horizon planning.

RoboSPA is a large-scale robotic manipulation dataset and benchmark for diagnosing embodied reasoning in vision-language-action models, spanning fine-grained spatial reasoning and long-horizon procedural planning. It covers 10 task categories and 56 base tasks instantiated across five difficulty levels for 280 variants, with 527K trajectories collected across multiple embodiments. Experiments on representative VLA models show current systems struggle with complex spatial relations, precise low-level execution, and memory-intensive planning.

arXiv cs.AI / cs.LG / cs.CL·Sep 4, 16:19 UTC · 11d agoAI research

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OpenWAM: An Open, Modular Exploration Towards Systematic World-Action Model Pretraining

OpenWAM releases an open modular stack for world-action model pretraining, plus OpenWAM-alpha trained on about 6,400 hours of egocentric and robot data.

OpenWAM is an open research stack that factorizes World-Action Model pretraining into composable infrastructure, study, and model components with unified training, inference, and evaluation. Controlled experiments distill three principles on knowledge inheritance, world-action synergy, and out-of-domain generalization gains from embodied co-training. The resulting OpenWAM-alpha, pretrained on roughly 6,400 hours of egocentric human and robot data, achieves top-tier results across eight simulation benchmarks and real-robot tests spanning single-arm, bimanual, and dexterous embodiments. The full stack, including infrastructure, evaluation protocols, pretrained models, and data recipes, is released openly.

Hugging Face daily papers·Sep 6, 20:00 UTC · 9d agoAI research

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TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model

Researchers present TANGO, a whole-body vision-language-action model enabling humanoid robots to traverse cluttered spaces from language instructions.

TANGO predicts 29-DoF joint-space actions from egocentric RGB observations and natural-language instructions for whole-body humanoid navigation, going beyond 2D path planning. It is trained entirely in simulation using global path planning, kinematic whole-body motion generation, obstacle-aware motion editing, and RL-based tracking. The model reports state-of-the-art simulation performance and was deployed zero-shot on a Unitree G1 humanoid without any real-world navigation training data.

arXiv cs.AI / cs.LG / cs.CL·Sep 8, 17:59 UTC · 7d agoAI research1

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RoboSPA: Can VLA Models Go Beyond Simple Scenes and Short-Horizon Tasks?

RoboSPA introduces a 527K-trajectory benchmark with 280 task variants showing current VLA models struggle with spatial reasoning and long-horizon planning.

RoboSPA is a large-scale robotic manipulation dataset and benchmark for diagnosing embodied reasoning in vision-language-action models, covering fine-grained spatial reasoning and long-horizon procedural planning. It spans 10 task categories and 56 base tasks instantiated across five difficulty levels for 280 variants, with 527K trajectories collected across multiple embodiments and diverse scenes. Diagnostic metrics go beyond binary success rates, and experiments show current VLA models struggle with complex spatial relations, precise low-level execution, and memory-intensive planning.

Hugging Face daily papers·Sep 3, 20:00 UTC · 12d agoAI research

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Semigroup-JEPA: Latent Dynamics Consistency for Zero-Shot Physics Generalization

SG-JEPA world model conditions latent prediction on physical parameters, halving open-loop prediction error versus DINO-WM and boosting robotic control success.

SG-JEPA extends the LeWorldModel JEPA framework by supplying the governing physics parameter to the temporal model via action-conditioning and jointly training an encoder and predictor through autoregressive latent rollout. On out-of-distribution gravitational-field tasks it reduces open-loop prediction error by up to 2x versus DINO-WM on 2D datasets and increases 3D robotic control success rate up to 2.5x using independently trained diffusion policies. A linear feature analysis attributes most of the gain to the encoder learning features that the predictor can carry forward through rollout.

arXiv cs.AI / cs.LG / cs.CL·Sep 9, 17:08 UTC · 6d agoAI research

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ActionSplice: In-Flight Action Editing for Interactive World Models

ActionSplice enables in-flight action editing in chunk-autoregressive video world models via a lightweight corrector, avoiding rollback or waiting for the next chunk.

ActionSplice is an inference framework that formulates in-flight action editing for chunk-autoregressive video world models as Counterfactual State Transport (CST), where a lightweight corrector transports the interrupted backbone-native representation toward the matched state induced by the revised action. The world model and sampler remain frozen, and sampling resumes without replaying completed evaluations. Across minWM-Wan Action2V and HY-WM1.5, the retargeting variant CST-R reduces rollback-relative LPIPS by 61.5% and 75.9% versus direct condition swapping, while the temporal-splicing variant CST-T reduces suffix LPIPS by 56.1% and 77.5% with 2.73x and 1.69x pixel-ready speedups over waiting.

Hugging Face daily papers·Sep 7, 20:00 UTC · 8d agoAI research

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Procedural Graphs: Self-Evolving Execution Structures for LLM Agents

Researchers introduce Procedural Graphs, self-evolving (procedure, relation, procedure) structures guiding LLM agent tool use and planning.

Procedural Graphs organize procedural knowledge into (procedure, relation, procedure) triplets to guide LLM agent actions, addressing drift such as lost objectives, out-of-order tool calls, and repeated unproductive steps. At each decision step the framework localizes the active node and a guidance model translates the surrounding subgraph into step-level situational guidance. An LLM refiner edits graph topology by contrasting failed with successful trajectories, and across datasets, task types and LLMs the approach outperforms memory-based baselines and matches or surpasses hand-designed graphs.

arXiv cs.AI / cs.LG / cs.CL·Sep 8, 17:59 UTC · 7d agoAI research1

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GE-Act 2.0: Pretraining and Scaling a World-Action Model for Robotic Manipulation

GE-Act 2.0 is a from-scratch pretrained world-action model for robotic manipulation, with success rising from 17.1% to 44.1% as co-training data scales to 30,000 hours.

Genie Envisioner Act 2.0 (GE-Act 2.0) is a world-action model whose generative and action components are all initialized from scratch on manipulation data, combining a control-oriented autoencoder (CoAE), single-step visual planner (SVP), and inverse dynamics model (IDM) trained jointly via knowledge-aligned selective optimization (KASO). Scaling co-training data from 300 to 30,000 hours raises zero-shot success from 17.1% to 44.1% on G1-OP and 13.4% to 31.1% on G2-90D, despite the latter comprising under 2% of data, suggesting cross-embodiment transfer. Gains span 19/20 and 18/20 skill groups, and skill-specific coverage correlates with zero-shot OOD success (Pearson r=0.80).

Hugging Face daily papers·Sep 3, 20:00 UTC · 12d agoAI research

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TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model

Researchers introduce TANGO, a whole-body vision-language-action model enabling zero-shot language-guided humanoid navigation on the Unitree G1 robot.

TANGO addresses humanoid navigation in cluttered indoor environments by predicting 29-DoF joint-space actions directly from natural-language instructions and egocentric RGB, rather than 2D path planning. It is trained entirely in simulation via a pipeline combining global path planning, kinematic whole-body motion generation, obstacle-aware motion editing, and RL-based tracking. In simulation it achieves state-of-the-art vision-language navigation performance and transfers zero-shot to a Unitree G1 humanoid without any real-world navigation data.

Hugging Face daily papers·Sep 7, 20:00 UTC · 8d agoAI research1

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Discrete Beckmann Transport Models for One-Step Language Modeling and Reasoning

DBTM achieves one-step text generation via a time-independent transport map trained directly from data, removing pretrained teacher distillation.

Discrete Beckmann Transport Models (DBTM) build a time-independent flow whose autonomous transport map provably carries any point in ambient space to a fixed point on simplex vertices in a single step. The fixed-point property is characterized by a conservation equation whose residual can be minimized directly from data, eliminating the need for a teacher flow, distillation, and time conditioning. A partial-context interpolant extension turns additional function evaluations into refinement steps rather than ODE integration steps. On language modeling and reasoning tasks, DBTM's one- and few-step generation improves quality and accuracy over discrete diffusion and continuous flow baselines.

arXiv cs.AI / cs.LG / cs.CL·Sep 14, 17:19 UTC · 1d agoAI research

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PlannerForge: LLM Agents for Scenario-Based Testing of Motion Planners in Autonomous Driving

PlannerForge unifies scenario-based testing of autonomous driving motion planners in one LLM-agent framework, outperforming prior baselines.

PlannerForge is an LLM-agent framework that covers the full scenario-based testing pipeline for autonomous driving systems, spanning scenario generation, selection, modification, routing, planner testing, plus new enhancement and benchmarking stages. In evaluations with 10 off-the-shelf LLMs, best-per-task scores range from 0.88 to 1.00, and open-source 20-35B backends such as Qwen3.6:35B match commercial APIs on most tasks. End-to-end chaining retains 83% (commercial) and 78% (open) of seed queries, beats Scenario Factory 2.0 on executable generation, and cost-tuning lifts planner success from 50.4% to 70.2% while cutting collisions from 19.0% to 8.4%.

Hugging Face daily papers·Sep 7, 20:00 UTC · 8d agoAI research

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CosmoH2G: A Hand-to-Gripper Transfer Dataset and Baseline Method for Object Manipulation with Complex Spatial Movements

Researchers release CosmoH2G, a 6,189-episode hand-to-gripper dataset with a two-stage method for complex spatial robot manipulation.

The paper introduces a scalable acquisition pipeline using a handheld gripper to collect paired hand-gripper demonstrations, producing 6,189 episodes across 1,254 unique objects with higher spatial complexity than existing benchmarks. A two-stage framework first predicts sparse gripper keyframes (initial and terminal), then generates the full continuous action sequence conditioned on them, while learning gripper orientation and post-optimizing translation via grasping heuristics and kinematic consistency. Simulation and real-robot experiments show stable, precise hand-to-gripper transfer of complex spatial manipulations, outperforming traditional baselines.

Hugging Face daily papers·Sep 6, 20:00 UTC · 9d agoAI research

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TrajMark: Ownership Attribution and Segment-Level Tamper Localization for Coding-Agent Trajectories

Researchers introduce TrajMark, a training-free watermarking framework for coding-agent trajectories that recovers ownership, detects 95.5-100% of edits, and localizes tampered regions.

TrajMark is a training-free, symmetric-key, visible-only watermarking framework for coding-agent trajectories that separates robust ownership attribution from fragile local integrity verification. A sparse owner layer encodes a six-bit deployment identifier by rewriting keyed READ actions into masked linear equations, while a localization layer inserts linked Q12 seals that commit to protected critical-action segments. Across three coding-agent frameworks and three LLMs, it recovers the exact owner in all clean full-watermark batches, detects 95.5%-100% of single-site edits, and localizes 95.8% of random corruptions to an accepted protocol region. Owner marking adds no trajectory actions and matched Pass@1 is 26.9% versus 26.3% for unwatermarked runs.

arXiv cs.CR·Sep 9, 16:33 UTC · 6d agoResearch1

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Same Trajectory, Contradictory Rewards (ROBORMBENCH): Paraphrase Fragility in Vision Language Reward Models

New ROBORMBENCH benchmark shows vision-language reward models can flip robot success/failure judgments when goal instructions are paraphrased.

The authors show that paraphrasing the instruction alone can substantially change progress scores from VLM reward models, even flipping identical robot trajectories between failure and success. ROBORMBENCH comprises 2,390 real-robot trajectories with ground-truth progress labels and 21,673 verified paraphrases covering lexical, syntactic, and action-goal rewrites. Instability is widespread across proprietary and open-source VLMs, grows with more divergent rewrites, and is not reliably reduced by scale or explicit reasoning, while trajectory-grounded dedicated reward models are markedly more stable.

arXiv cs.AI / cs.LG / cs.CL·Sep 4, 17:47 UTC · 11d agoAI research1

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TRACE: Trajectory-robust Admission with Evidence Ordering for Efficient GUI Agents

TRACE, a training-free visual token pruning framework, cuts GUI agent inference latency and memory while keeping trajectory-wide visual evidence reusable.

TRACE is a training-free framework for trajectory-robust admission and coverage-aware evidence ordering that prunes high-resolution screenshot tokens accumulated in GUI agent trajectories. It ranks visual evidence using a query-independent layout-derived interaction prior combined with instruction relevance and feature novelty, and reserves part of the budget for native tokens distributed across the screen to repair spatial coverage. A monotone KV contraction incrementally compresses retired frames into compact session state, avoiding repeated visual encoding or pruning. Experiments across six GUI benchmarks and diverse models verify effectiveness under tight budgets, with source code to be released.

Hugging Face daily papers·Sep 8, 20:00 UTC · 7d agoAI research

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Pelican-Sim 1.0: A General World Model Simulator for Embodied Intelligence

Pelican-Sim 1.0 predicts future observations from visual context and robot actions; four-step autoregressive rollouts yield 5.67x speedup and raise policy success from 70% to 93%.

Pelican-Sim 1.0 is a general world model simulator for embodied intelligence that predicts future observations from visual context and robot actions using a 28-dimensional unified action space valid across heterogeneous embodiments. Sparse mixture-of-experts layers reduce FVD by 6.530 versus the dense backbone, and causal adaptation with few-step distillation yields a four-step autoregressive simulator achieving a 5.67-fold speedup over the 35-step model. Trained on roughly one million real-world and simulated trajectories, PSNR improves over the strongest baselines by 4.636 on AgiBotWorld Beta, 2.080 on RoboMIND, and 10.343 on RoboTwin. Downstream on RoboTwin, adding 500 generated trajectories to 50 demonstrations per task raises policy success from 70% to 93%, and policy evaluation reaches a Pearson correlation of 0.994.

Hugging Face daily papers·Sep 9, 20:00 UTC · 6d agoAI research

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Qwen-Drive 1.0 tells you why it brakes, just don't expect the explanation to match the maneuver

Alibaba's Qwen-Drive 1.0 adds 3D perception and planning modules to Qwen3.5-4B for driving tasks, though explanations often mismatch maneuvers.

Qwen-Drive 1.0, built on Qwen3.5-4B, combines spatial perception, traffic question answering, and route planning in one vision-language model, adding a bird's-eye-view perception module and a Planning Expert trained via staged fine-tuning and reinforcement learning. The paper finds text-image models do not inherently grasp 3D space; spatial accuracy only improved when the base vision-language model itself was trained on spatial tasks, while avoiding catastrophic forgetting of general knowledge. The cut reinforcement learning-trained version halved road-departure rate in simulation from 24% to 12%, and the model beats specialized driving models in most of Qwen's benchmarks, but its explanations sometimes conflate causes like distant red lights and crossing children, and results partly rest on self-designed tests. The work follows prior findings from PaLM-E and a UC Santa Cruz adversarial sign attack on DriveLM showing VLM driving models' reasoning and spatial gaps.

The Decoder·Sep 7, 12:15 UTC · 8d agoAI research

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SyncWorld: Visual Calibration Enables World Models as Zero-Shot Simulators

SyncWorld is an action-conditioned world model acting as a zero-shot robotics simulator across unseen environments via visual calibration.

Researchers propose SyncWorld, an action-conditioned world model that simulates robot action outcomes in unseen environments without additional training. It uses a visual calibration episode of paired frames and actions to establish the setup-specific Action-Visual Mapping in context. Experiments show accurate simulation of action outcomes in novel settings and that simulated rollouts enable test-time policy improvement without training.

Hugging Face daily papers·Sep 7, 20:00 UTC · 8d agoAI research

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Agentic Visual Generation: From Generative Models to Agentic Control

Researchers propose an L0-L4 control taxonomy for agentic visual generation, classifying controllers from fixed conditioning to experience-adaptive decision-making.

This paper proposes a taxonomy for agentic visual generation organized by what the controller can directly control in the generation process, rather than by planning depth, tool count, or model size. Levels range from L1 Conditioning Control through L2 Execution Control, L3 Outcome-Adaptive Control, and L4 Experience-Adaptive Control, with L0 Fixed Support denoting systems without a deployed decision-making controller. The framework is applied across image, video, editing, 3D, world, slide, and user-interface generation to map how controller capabilities and mechanisms have evolved across the field.

Hugging Face daily papers·Sep 5, 20:00 UTC · 10d agoAI research

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PhysStream: Streaming Physics-Grounded Video Generation with Structured Scene Memory and Fine-Grained Motion Control

PhysStream autoregressive video model enables physics-grounded mid-generation motion control, cutting trajectory error 12% and FVMD 33% versus strongest baselines.

PhysStream is an autoregressive image-to-video model that incorporates structured scene memory—positional maps and object tracking maps derived online from previously generated frames—and supports fine-grained motion control via sparse velocity-increment signals encoding physical quantities. Training proceeds in two stages: a bidirectional model finetuned with motion-control conditioning, then a causal autoregressive model with scene memory. It reduces motion distribution distance (FVMD) by 33% and trajectory error by 12% over the strongest baselines, and human evaluators prefer it in over 85% of in-the-wild comparisons.

arXiv cs.AI / cs.LG / cs.CL·Sep 15, 17:55 UTC · 15h agoAI research 2 sources

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ASTRIL-MPC: Autonomous Traversal Framework of Articulated Tracked Robots with Language-Guided Neural-Kinematic MPC

ASTRIL-MPC combines learned kinematics, NMPC, and LLM-guided safety-checked retuning for articulated tracked robot traversal in search-and-rescue.

ASTRIL-MPC is a language-guided neural-kinematic model predictive control framework for autonomous traversal of articulated tracked robots in urban search and rescue. A learned kinematics model predicts short-horizon task-state increments, NMPC plans with feasibility constraints, and an LLM proposes bounded, safety-checked updates to weights and bounds. The compiled predictor enables a full control cycle within 100 ms, improving traversal-quality scores by up to 71% over non-adaptive NMPC and 67% over a PPO baseline while eliminating measurable collision impacts.

arXiv cs.AI / cs.LG / cs.CL·Sep 11, 17:17 UTC · 4d agoAI research

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AI for Games in the Foundation Model Era

Survey organizes foundation-model AI for games into six roles and analyzes which capabilities transfer across playing, design, building, runtime adaptation, and testing.

A survey maps foundation-model and learned world-model research across the game lifecycle into six roles: playing/acting, modeling players and games, designing games, building/maintaining games, runtime generation/adaptation, and testing/evaluation. The authors identify cross-role connections such as trajectories training world models and design specifications driving executable implementations. Control schemes, rules, engine interfaces, state representations, and player contexts often remain setting-specific, so downstream claims require validation in the target setting. Evaluation is most standardized for bounded game playing, while persistent state, repeated revision, validated player modeling, and automated testing remain less established.

Hugging Face daily papers·Sep 14, 20:00 UTC · 1d agoAI research

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PhysBrain 1.5: From Vision-Language Models to Physical Foundation Models

PhysBrain 1.5, an 8B physical foundation model, sets open-source state of the art across 28 embodied understanding benchmarks.

The paper presents PhysBrain 1.5, a unified 8B model for understanding physical environments, generating actions, and predicting future states, built from a vision-language model with joint autoregressive next-token prediction over language, end-effector motion, and dense visual targets. Pre-training uses embodied supervision from human interaction videos, followed by supervised fine-tuning on human demonstrations, robot trajectories, and simulated experience. The model averages 72.5 across 28 embodied benchmarks, setting a new open-source state of the art and performing on par with proprietary GPT-6-Astra and Gemini 3.6 Flash, with best open-source results on 14 benchmarks.

Hugging Face daily papers·Sep 13, 20:00 UTC · 2d agoAI research1

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Steering Geometry: Validating Human Value Geometry in LLM Steering Space

Researchers show LLM activation steering vectors encode human value geometry predicted by Schwartz's theory, with fidelity improving at scale but degrading after instruction tuning.

The study tests whether latent geometry of activation steering vectors reflects theory-specified structure in human values, using Schwartz's Theory of Basic Human Values and a new 26K-sample benchmark spanning 20 values. Distribution-driven methods (CAA, SphericalSteer, ODESteer) recover predicted value topologies with Spearman correlation up to 0.51 (p < 10^-13), while behavior-centric methods (COLD-Steer, BiPO) steer comparably but show little geometric fidelity. Geometric alignment improves with model scale but drops after instruction tuning. Better geometric alignment also yields more human-consistent cross-value transfer, steering one value lifting compatible values and suppressing opposing ones.

Hugging Face daily papers·Sep 4, 20:00 UTC · 11d agoAI research

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The Router Within: Eliciting Native Skill Routing from a Frozen LLM

Gavel reads skill-routing signals from a frozen LLM's forward passes with two linear maps, beating retrieval pipelines by up to 21.9 points.

Gavel (Glance And Verdict) shows a frozen agent LLM already contains skill-routing signals in its forward passes, read out via two trained linear maps without loading skill text into context. A glance step scores the full library using mid-layer states and per-skill banks built in one forward pass; a verdict step fuses the model's own likelihood and yes/no judgment as a product of experts. Trained once, it transfers zero-shot to three public benchmarks and SkillTraj (372 simulated agent trajectories); on Qwen3-32B it beats progressive disclosure and retrieve-and-rerank pipelines adding 1.2B-16B external parameters by up to 13.4 points (21.9 mid-rollout).

arXiv cs.AI / cs.LG / cs.CL·Sep 14, 17:58 UTC · 1d agoAI research 2 sources

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MIT creates method to force AI to comply with safety rules

MIT researchers published HardFlow, a method enforcing hard safety constraints on flow-matching generative models' final outputs without retraining.

MIT researchers led by Zeyang Li and Navid Azizan developed HardFlow, a trajectory-optimization method that enforces strict, non-negotiable constraints on flow-matching generative models by checking rule satisfaction only at the final generation step. Published in IEEE TPAMI, it outperformed six rival projection and guidance methods on four simulated benchmarks including D3IL robotic manipulation, Maze2D, physical process control, and image editing. All results are simulation-only, with no independent reproduction yet reported.

Hacker News · security·Sep 14, 16:18 UTC · 1d agoAI researchHN 24↑ · 25 comments

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Model-Aware Schedules Improve Generation via Fiberwise Optimal Transport

Researchers introduce model-aware diffusion schedules via fiberwise optimal transport, cutting flow-matching FID on CIFAR-10 by 38.6% at 16 function evaluations.

The paper proposes constructing diffusion and flow-matching sampling schedules from a fiberwise prediction risk defined via optimal transport, combined with coefficient-path kinetic action, yielding a closed-form time allocation. Across DDPM and flow-matching experiments spanning targets, datasets, and architectures, the schedules beat model-agnostic baselines, including a 38.6% relative FID reduction for flow matching on CIFAR-10 at 16 function evaluations. Normalized fiberwise-risk profiles from independently trained models align closely, suggesting empirical universality, and a frozen analytic allocation template retains most of the gains.

arXiv cs.AI / cs.LG / cs.CL·Sep 10, 17:30 UTC · 5d agoAI research

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