Sparse ActionGen: Accelerating Diffusion Policy with Real-time Pruning

Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it impractical for real-time visuomotor control. Existing caching-based acceleration methods typically rely on $\textit{static}$ schedules that fail to adapt to the $\textit{dynamics}$ of robot-environment interactions, thereby leading to suboptimal performance. In this paper, we propose $\underline{\textbf{S}}$parse $\underline{\textbf{A}}$ction$\underline{\textbf{G}}$en ($\textbf{SAG}$) for extremely sparse action generation. To accommodate the iterative interactions, SAG customizes a rollout-adaptive prune-then-reuse mechanism that first identifies prunable computations globally and then reuses cached activations to substitute them during action diffusion. To capture the rollout dynamics, SAG parameterizes an observation-conditioned diffusion pruner for environment-aware adaptation and instantiates it with a highly parameter- and inference-efficient design for real-time prediction. Furthermore, SAG introduces a one-for-all reusing strategy that reuses activations across both timesteps and blocks in a zig-zag manner, minimizing the global redundancy. Extensive experiments on multiple robotic benchmarks demonstrate that SAG achieves up to 4$\times$ generation speedup without sacrificing performance. Project Page: https://sparse-actiongen.github.io/.

Frontier AI Risk Management Framework in Practice: A Risk Analysis Technical Report

To understand and identify the unprecedented risks posed by rapidly advancing artificial intelligence (AI) models, this report presents a comprehensive assessment of their frontier risks. Drawing on the E-T-C analysis (deployment environment, threat source, enabling capability) from the Frontier AI Risk Management Framework (v1.0) (SafeWork-F1-Framework), we identify critical risks in seven areas: cyber offense, biological and chemical risks, persuasion and manipulation, uncontrolled autonomous AI R\&D, strategic deception and scheming, self-replication, and collusion. Guided by the "AI-$45^\circ$ Law," we evaluate these risks using "red lines" (intolerable thresholds) and "yellow lines" (early warning indicators) to define risk zones: green (manageable risk for routine deployment and continuous monitoring), yellow (requiring strengthened mitigations and controlled deployment), and red (necessitating suspension of development and/or deployment). Experimental results show that all recent frontier AI models reside in green and yellow zones, without crossing red lines. Specifically, no evaluated models cross the yellow line for cyber offense or uncontrolled AI R\&D risks. For self-replication, and strategic deception and scheming, most models remain in the green zone, except for certain reasoning models in the yellow zone. In persuasion and manipulation, most models are in the yellow zone due to their effective influence on humans. For biological and chemical risks, we are unable to rule out the possibility of most models residing in the yellow zone, although detailed threat modeling and in-depth assessment are required to make further claims. This work reflects our current understanding of AI frontier risks and urges collective action to mitigate these challenges.

Block-wise Adaptive Caching for Accelerating Diffusion Policy

Diffusion Policy has demonstrated strong visuomotor modeling capabilities, but its high computational cost renders it impractical for real-time robotic control. Despite huge redundancy across repetitive denoising steps, existing diffusion acceleration techniques fail to generalize to Diffusion Policy due to fundamental architectural and data divergences. In this paper, we propose Block-wise Adaptive Caching(BAC), a method to accelerate Diffusion Policy by caching intermediate action features. BAC achieves lossless action generation acceleration by adaptively updating and reusing cached features at the block level, based on a key observation that feature similarities vary non-uniformly across timesteps and locks. To operationalize this insight, we first propose the Adaptive Caching Scheduler, designed to identify optimal update timesteps by maximizing the global feature similarities between cached and skipped features. However, applying this scheduler for each block leads to signiffcant error surges due to the inter-block propagation of caching errors, particularly within Feed-Forward Network (FFN) blocks. To mitigate this issue, we develop the Bubbling Union Algorithm, which truncates these errors by updating the upstream blocks with signiffcant caching errors before downstream FFNs. As a training-free plugin, BAC is readily integrable with existing transformer-based Diffusion Policy and vision-language-action models. Extensive experiments on multiple robotic benchmarks demonstrate that BAC achieves up to 3x inference speedup for free.