ArtGS:3D Gaussian Splatting for Interactive Visual-Physical Modeling and Manipulation of Articulated Objects

Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D Gaussian Splatting (3DGS) by integrating visual-physical modeling for articulated object understanding and interaction. ArtGS begins with multi-view RGB-D reconstruction, followed by reasoning with a vision-language model (VLM) to extract semantic and structural information, particularly the articulated bones. Through dynamic, differentiable 3DGS-based rendering, ArtGS optimizes the parameters of the articulated bones, ensuring physically consistent motion constraints and enhancing the manipulation policy. By leveraging dynamic Gaussian splatting, cross-embodiment adaptability, and closed-loop optimization, ArtGS establishes a new framework for efficient, scalable, and generalizable articulated object modeling and manipulation. Experiments conducted in both simulation and real-world environments demonstrate that ArtGS significantly outperforms previous methods in joint estimation accuracy and manipulation success rates across a variety of articulated objects. Additional images and videos are available on the project website: https://sites.google.com/view/artgs/home

Info-Coevolution: An Efficient Framework for Data Model Coevolution

Machine learning relies heavily on data, yet the continuous growth of real-world data poses challenges for efficient dataset construction and training. A fundamental yet unsolved question is: given our current model and data, does a new data (sample/batch) need annotation/learning? Conventional approaches retain all available data, leading to non-optimal data and training efficiency. Active learning aims to reduce data redundancy by selecting a subset of samples to annotate, while it increases pipeline complexity and introduces bias. In this work, we propose Info-Coevolution, a novel framework that efficiently enables models and data to coevolve through online selective annotation with no bias. Leveraging task-specific models (and open-source models), it selectively annotates and integrates online and web data to improve datasets efficiently. For real-world datasets like ImageNet-1K, Info-Coevolution reduces annotation and training costs by 32\% without performance loss. It is able to automatically give the saving ratio without tuning the ratio. It can further reduce the annotation ratio to 50\% with semi-supervised learning. We also explore retrieval-based dataset enhancement using unlabeled open-source data. Code is available at https://github.com/NUS-HPC-AI-Lab/Info-Coevolution/.

AllTracker: Efficient Dense Point Tracking at High Resolution

We introduce AllTracker: a model that estimates long-range point tracks by way of estimating the flow field between a query frame and every other frame of a video. Unlike existing point tracking methods, our approach delivers high-resolution and dense (all-pixel) correspondence fields, which can be visualized as flow maps. Unlike existing optical flow methods, our approach corresponds one frame to hundreds of subsequent frames, rather than just the next frame. We develop a new architecture for this task, blending techniques from existing work in optical flow and point tracking: the model performs iterative inference on low-resolution grids of correspondence estimates, propagating information spatially via 2D convolution layers, and propagating information temporally via pixel-aligned attention layers. The model is fast and parameter-efficient (16 million parameters), and delivers state-of-the-art point tracking accuracy at high resolution (i.e., tracking 768x1024 pixels, on a 40G GPU). A benefit of our design is that we can train on a wider set of datasets, and we find that doing so is crucial for top performance. We provide an extensive ablation study on our architecture details and training recipe, making it clear which details matter most. Our code and model weights are available at https://alltracker.github.io .

SRDiffusion: Accelerate Video Diffusion Inference via Sketching-Rendering Cooperation

Leveraging the diffusion transformer (DiT) architecture, models like Sora, CogVideoX and Wan have achieved remarkable progress in text-to-video, image-to-video, and video editing tasks. Despite these advances, diffusion-based video generation remains computationally intensive, especially for high-resolution, long-duration videos. Prior work accelerates its inference by skipping computation, usually at the cost of severe quality degradation. In this paper, we propose SRDiffusion, a novel framework that leverages collaboration between large and small models to reduce inference cost. The large model handles high-noise steps to ensure semantic and motion fidelity (Sketching), while the smaller model refines visual details in low-noise steps (Rendering). Experimental results demonstrate that our method outperforms existing approaches, over 3$\times$ speedup for Wan with nearly no quality loss for VBench, and 2$\times$ speedup for CogVideoX. Our method is introduced as a new direction orthogonal to existing acceleration strategies, offering a practical solution for scalable video generation.

REPA Works Until It Doesn't: Early-Stopped, Holistic Alignment Supercharges Diffusion Training

Diffusion Transformers (DiTs) deliver state-of-the-art image quality, yet their training remains notoriously slow. A recent remedy -- representation alignment (REPA) that matches DiT hidden features to those of a non-generative teacher (e.g. DINO) -- dramatically accelerates the early epochs but plateaus or even degrades performance later. We trace this failure to a capacity mismatch: once the generative student begins modelling the joint data distribution, the teacher's lower-dimensional embeddings and attention patterns become a straitjacket rather than a guide. We then introduce HASTE (Holistic Alignment with Stage-wise Termination for Efficient training), a two-phase schedule that keeps the help and drops the hindrance. Phase I applies a holistic alignment loss that simultaneously distills attention maps (relational priors) and feature projections (semantic anchors) from the teacher into mid-level layers of the DiT, yielding rapid convergence. Phase II then performs one-shot termination that deactivates the alignment loss, once a simple trigger such as a fixed iteration is hit, freeing the DiT to focus on denoising and exploit its generative capacity. HASTE speeds up training of diverse DiTs without architecture changes. On ImageNet 256X256, it reaches the vanilla SiT-XL/2 baseline FID in 50 epochs and matches REPA's best FID in 500 epochs, amounting to a 28X reduction in optimization steps. HASTE also improves text-to-image DiTs on MS-COCO, demonstrating to be a simple yet principled recipe for efficient diffusion training across various tasks. Our code is available at https://github.com/NUS-HPC-AI-Lab/HASTE .

DD-Ranking: Rethinking the Evaluation of Dataset Distillation

In recent years, dataset distillation has provided a reliable solution for data compression, where models trained on the resulting smaller synthetic datasets achieve performance comparable to those trained on the original datasets. To further improve the performance of synthetic datasets, various training pipelines and optimization objectives have been proposed, greatly advancing the field of dataset distillation. Recent decoupled dataset distillation methods introduce soft labels and stronger data augmentation during the post-evaluation phase and scale dataset distillation up to larger datasets (e.g., ImageNet-1K). However, this raises a question: Is accuracy still a reliable metric to fairly evaluate dataset distillation methods? Our empirical findings suggest that the performance improvements of these methods often stem from additional techniques rather than the inherent quality of the images themselves, with even randomly sampled images achieving superior results. Such misaligned evaluation settings severely hinder the development of DD. Therefore, we propose DD-Ranking, a unified evaluation framework, along with new general evaluation metrics to uncover the true performance improvements achieved by different methods. By refocusing on the actual information enhancement of distilled datasets, DD-Ranking provides a more comprehensive and fair evaluation standard for future research advancements.

Unsupervised Learning for Class Distribution Mismatch

Class distribution mismatch (CDM) refers to the discrepancy between class distributions in training data and target tasks. Previous methods address this by designing classifiers to categorize classes known during training, while grouping unknown or new classes into an "other" category. However, they focus on semi-supervised scenarios and heavily rely on labeled data, limiting their applicability and performance. To address this, we propose Unsupervised Learning for Class Distribution Mismatch (UCDM), which constructs positive-negative pairs from unlabeled data for classifier training. Our approach randomly samples images and uses a diffusion model to add or erase semantic classes, synthesizing diverse training pairs. Additionally, we introduce a confidence-based labeling mechanism that iteratively assigns pseudo-labels to valuable real-world data and incorporates them into the training process. Extensive experiments on three datasets demonstrate UCDM's superiority over previous semi-supervised methods. Specifically, with a 60% mismatch proportion on Tiny-ImageNet dataset, our approach, without relying on labeled data, surpasses OpenMatch (with 40 labels per class) by 35.1%, 63.7%, and 72.5% in classifying known, unknown, and new classes.

A Finite-State Controller Based Offline Solver for Deterministic POMDPs

Deterministic partially observable Markov decision processes (DetPOMDPs) often arise in planning problems where the agent is uncertain about its environmental state but can act and observe deterministically. In this paper, we propose DetMCVI, an adaptation of the Monte Carlo Value Iteration (MCVI) algorithm for DetPOMDPs, which builds policies in the form of finite-state controllers (FSCs). DetMCVI solves large problems with a high success rate, outperforming existing baselines for DetPOMDPs. We also verify the performance of the algorithm in a real-world mobile robot forest mapping scenario.

DyDiT++: Dynamic Diffusion Transformers for Efficient Visual Generation

Diffusion Transformer (DiT), an emerging diffusion model for visual generation, has demonstrated superior performance but suffers from substantial computational costs. Our investigations reveal that these costs primarily stem from the \emph{static} inference paradigm, which inevitably introduces redundant computation in certain \emph{diffusion timesteps} and \emph{spatial regions}. To overcome this inefficiency, we propose \textbf{Dy}namic \textbf{Di}ffusion \textbf{T}ransformer (DyDiT), an architecture that \emph{dynamically} adjusts its computation along both \emph{timestep} and \emph{spatial} dimensions. Specifically, we introduce a \emph{Timestep-wise Dynamic Width} (TDW) approach that adapts model width conditioned on the generation timesteps. In addition, we design a \emph{Spatial-wise Dynamic Token} (SDT) strategy to avoid redundant computation at unnecessary spatial locations. TDW and SDT can be seamlessly integrated into DiT and significantly accelerates the generation process. Building on these designs, we further enhance DyDiT in three key aspects. First, DyDiT is integrated seamlessly with flow matching-based generation, enhancing its versatility. Furthermore, we enhance DyDiT to tackle more complex visual generation tasks, including video generation and text-to-image generation, thereby broadening its real-world applications. Finally, to address the high cost of full fine-tuning and democratize technology access, we investigate the feasibility of training DyDiT in a parameter-efficient manner and introduce timestep-based dynamic LoRA (TD-LoRA). Extensive experiments on diverse visual generation models, including DiT, SiT, Latte, and FLUX, demonstrate the effectiveness of DyDiT.

MDK12-Bench: A Multi-Discipline Benchmark for Evaluating Reasoning in Multimodal Large Language Models

Multimodal reasoning, which integrates language and visual cues into problem solving and decision making, is a fundamental aspect of human intelligence and a crucial step toward artificial general intelligence. However, the evaluation of multimodal reasoning capabilities in Multimodal Large Language Models (MLLMs) remains inadequate. Most existing reasoning benchmarks are constrained by limited data size, narrow domain coverage, and unstructured knowledge distribution. To close these gaps, we introduce MDK12-Bench, a multi-disciplinary benchmark assessing the reasoning capabilities of MLLMs via real-world K-12 examinations. Spanning six disciplines (math, physics, chemistry, biology, geography, and information science), our benchmark comprises 140K reasoning instances across diverse difficulty levels from primary school to 12th grade. It features 6,827 instance-level knowledge point annotations based on a well-organized knowledge structure, detailed answer explanations, difficulty labels and cross-year partitions, providing a robust platform for comprehensive evaluation. Additionally, we present a novel dynamic evaluation framework to mitigate data contamination issues by bootstrapping question forms, question types, and image styles during evaluation. Extensive experiment on MDK12-Bench reveals the significant limitation of current MLLMs in multimodal reasoning. The findings on our benchmark provide insights into the development of the next-generation models. Our data and codes are available at https://github.com/LanceZPF/MDK12.