Action-to-Action Flow Matching

Diffusion-based policies have recently achieved remarkable success in robotics by formulating action prediction as a conditional denoising process. However, the standard practice of sampling from random Gaussian noise often requires multiple iterative steps to produce clean actions, leading to high inference latency that incurs a major bottleneck for real-time control. In this paper, we challenge the necessity of uninformed noise sampling and propose Action-to-Action flow matching (A2A), a novel policy paradigm that shifts from random sampling to initialization informed by the previous action. Unlike existing methods that treat proprioceptive action feedback as static conditions, A2A leverages historical proprioceptive sequences, embedding them into a high-dimensional latent space as the starting point for action generation. This design bypasses costly iterative denoising while effectively capturing the robot's physical dynamics and temporal continuity. Extensive experiments demonstrate that A2A exhibits high training efficiency, fast inference speed, and improved generalization. Notably, A2A enables high-quality action generation in as few as a single inference step (0.56 ms latency), and exhibits superior robustness to visual perturbations and enhanced generalization to unseen configurations. Lastly, we also extend A2A to video generation, demonstrating its broader versatility in temporal modeling. Project site: https://lorenzo-0-0.github.io/A2A_Flow_Matching.

Trace-Focused Diffusion Policy for Multi-Modal Action Disambiguation in Long-Horizon Robotic Manipulation

Generative model-based policies have shown strong performance in imitation-based robotic manipulation by learning action distributions from demonstrations. However, in long-horizon tasks, visually similar observations often recur across execution stages while requiring distinct actions, which leads to ambiguous predictions when policies are conditioned only on instantaneous observations, termed multi-modal action ambiguity (MA2). To address this challenge, we propose the Trace-Focused Diffusion Policy (TF-DP), a simple yet effective diffusion-based framework that explicitly conditions action generation on the robot's execution history. TF-DP represents historical motion as an explicit execution trace and projects it into the visual observation space, providing stage-aware context when current observations alone are insufficient. In addition, the induced trace-focused field emphasizes task-relevant regions associated with historical motion, improving robustness to background visual disturbances. We evaluate TF-DP on real-world robotic manipulation tasks exhibiting pronounced multi-modal action ambiguity and visually cluttered conditions. Experimental results show that TF-DP improves temporal consistency and robustness, outperforming the vanilla diffusion policy by 80.56 percent on tasks with multi-modal action ambiguity and by 86.11 percent under visual disturbances, while maintaining inference efficiency with only a 6.4 percent runtime increase. These results demonstrate that execution-trace conditioning offers a scalable and principled approach for robust long-horizon robotic manipulation within a single policy.

Generative Video Compression: Towards 0.01% Compression Rate for Video Transmission

Whether a video can be compressed at an extreme compression rate as low as 0.01%? To this end, we achieve the compression rate as 0.02% at some cases by introducing Generative Video Compression (GVC), a new framework that redefines the limits of video compression by leveraging modern generative video models to achieve extreme compression rates while preserving a perception-centric, task-oriented communication paradigm, corresponding to Level C of the Shannon-Weaver model. Besides, How we trade computation for compression rate or bandwidth? GVC answers this question by shifting the burden from transmission to inference: it encodes video into extremely compact representations and delegates content reconstruction to the receiver, where powerful generative priors synthesize high-quality video from minimal transmitted information. Is GVC practical and deployable? To ensure practical deployment, we propose a compression-computation trade-off strategy, enabling fast inference on consume-grade GPUs. Within the AI Flow framework, GVC opens new possibility for video communication in bandwidth- and resource-constrained environments such as emergency rescue, remote surveillance, and mobile edge computing. Through empirical validation, we demonstrate that GVC offers a viable path toward a new effective, efficient, scalable, and practical video communication paradigm.

UniPercept: Towards Unified Perceptual-Level Image Understanding across Aesthetics, Quality, Structure, and Texture

Multimodal large language models (MLLMs) have achieved remarkable progress in visual understanding tasks such as visual grounding, segmentation, and captioning. However, their ability to perceive perceptual-level image features remains limited. In this work, we present UniPercept-Bench, a unified framework for perceptual-level image understanding across three key domains: Aesthetics, Quality, Structure and Texture. We establish a hierarchical definition system and construct large-scale datasets to evaluate perceptual-level image understanding. Based on this foundation, we develop a strong baseline UniPercept trained via Domain-Adaptive Pre-Training and Task-Aligned RL, enabling robust generalization across both Visual Rating (VR) and Visual Question Answering (VQA) tasks. UniPercept outperforms existing MLLMs on perceptual-level image understanding and can serve as a plug-and-play reward model for text-to-image generation. This work defines Perceptual-Level Image Understanding in the era of MLLMs and, through the introduction of a comprehensive benchmark together with a strong baseline, provides a solid foundation for advancing perceptual-level multimodal image understanding.

Beyond Heuristics: A Decision-Theoretic Framework for Agent Memory Management

External memory is a key component of modern large language model (LLM) systems, enabling long-term interaction and personalization. Despite its importance, memory management is still largely driven by hand-designed heuristics, offering little insight into the long-term and uncertain consequences of memory decisions. In practice, choices about what to read or write shape future retrieval and downstream behavior in ways that are difficult to anticipate. We argue that memory management should be viewed as a sequential decision-making problem under uncertainty, where the utility of memory is delayed and dependent on future interactions. To this end, we propose DAM (Decision-theoretic Agent Memory), a decision-theoretic framework that decomposes memory management into immediate information access and hierarchical storage maintenance. Within this architecture, candidate operations are evaluated via value functions and uncertainty estimators, enabling an aggregate policy to arbitrate decisions based on estimated long-term utility and risk. Our contribution is not a new algorithm, but a principled reframing that clarifies the limitations of heuristic approaches and provides a foundation for future research on uncertainty-aware memory systems.

FAPE-IR: Frequency-Aware Planning and Execution Framework for All-in-One Image Restoration

All-in-One Image Restoration (AIO-IR) aims to develop a unified model that can handle multiple degradations under complex conditions. However, existing methods often rely on task-specific designs or latent routing strategies, making it hard to adapt to real-world scenarios with various degradations. We propose FAPE-IR, a Frequency-Aware Planning and Execution framework for image restoration. It uses a frozen Multimodal Large Language Model (MLLM) as a planner to analyze degraded images and generate concise, frequency-aware restoration plans. These plans guide a LoRA-based Mixture-of-Experts (LoRA-MoE) module within a diffusion-based executor, which dynamically selects high- or low-frequency experts, complemented by frequency features of the input image. To further improve restoration quality and reduce artifacts, we introduce adversarial training and a frequency regularization loss. By coupling semantic planning with frequency-based restoration, FAPE-IR offers a unified and interpretable solution for all-in-one image restoration. Extensive experiments show that FAPE-IR achieves state-of-the-art performance across seven restoration tasks and exhibits strong zero-shot generalization under mixed degradations.

Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation

This technical report presents the champion solution of the Table Service Track in the ICRA 2025 What Bimanuals Can Do (WBCD) competition. We tackled a series of demanding tasks under strict requirements for speed, precision, and reliability: unfolding a tablecloth (deformable-object manipulation), placing a pizza into the container (pick-and-place), and opening and closing a food container with the lid. Our solution combines VR-based teleoperation and Learning from Demonstrations (LfD) to balance robustness and autonomy. Most subtasks were executed through high-fidelity remote teleoperation, while the pizza placement was handled by an ACT-based policy trained from 100 in-person teleoperated demonstrations with randomized initial configurations. By carefully integrating scoring rules, task characteristics, and current technical capabilities, our approach achieved both high efficiency and reliability, ultimately securing the first place in the competition.

TuneComp: Joint Fine-tuning and Compression for Large Foundation Models

To reduce model size during post-training, compression methods, including knowledge distillation, low-rank approximation, and pruning, are often applied after fine-tuning the model. However, sequential fine-tuning and compression sacrifices performance, while creating a larger than necessary model as an intermediate step. In this work, we aim to reduce this gap, by directly constructing a smaller model while guided by the downstream task. We propose to jointly fine-tune and compress the model by gradually distilling it to a pruned low-rank structure. Experiments demonstrate that joint fine-tuning and compression significantly outperforms other sequential compression methods.

LatentLLM: Attention-Aware Joint Tensor Compression

Modern foundation models such as large language models (LLMs) and large multi-modal models (LMMs) require a massive amount of computational and memory resources. We propose a new framework to convert such LLMs/LMMs into a reduced-dimension latent structure. Our method extends a local activation-aware tensor decomposition to a global attention-aware joint tensor de-composition. Our framework can significantly improve the model accuracy over the existing model compression methods when reducing the latent dimension to realize computationally/memory-efficient LLMs/LLMs. We show the benefit on several benchmark including multi-modal reasoning tasks.

How can Diffusion Models Evolve into Continual Generators?

While diffusion models have achieved remarkable success in static data generation, their deployment in streaming or continual learning (CL) scenarios faces a major challenge: catastrophic forgetting (CF), where newly acquired generative capabilities overwrite previously learned ones. To systematically address this, we introduce a formal Continual Diffusion Generation (CDG) paradigm that characterizes and redefines CL in the context of generative diffusion models. Prior efforts often adapt heuristic strategies from continual classification tasks but lack alignment with the underlying diffusion process. In this work, we develop the first theoretical framework for CDG by analyzing cross-task dynamics in diffusion-based generative modeling. Our analysis reveals that the retention and stability of generative knowledge across tasks are governed by three key consistency criteria: inter-task knowledge consistency (IKC), unconditional knowledge consistency (UKC), and label knowledge consistency (LKC). Building on these insights, we propose Continual Consistency Diffusion (CCD), a principled framework that integrates these consistency objectives into training via hierarchical loss terms $\mathcal{L}_{IKC}$, $\mathcal{L}_{UKC}$, and $\mathcal{L}_{LKC}$. This promotes effective knowledge retention while enabling the assimilation of new generative capabilities. Extensive experiments on four benchmark datasets demonstrate that CCD achieves state-of-the-art performance under continual settings, with substantial gains in Mean Fidelity (MF) and Incremental Mean Fidelity (IMF), particularly in tasks with rich cross-task knowledge overlap.