Uni-Mo generates 7,488 language-annotated quadruped motions via LLM prompts and video diffusion, lifts them to 3D trajectories, and trains policies achieving 96.7% real-robot success on 392 sampled motions.
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XTC-Bench reveals that strong performance on generation or understanding tasks in unified multimodal models does not guarantee cross-task semantic consistency, which instead depends on how tightly coupled the learning objectives are across modalities.
Diffusion models overfit denoising loss at intermediate noise but generalize in inference as model error smooths the flow field and sampling paths avoid memorized noisy training data.
citing papers explorer
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Unleashing Infinite Motion: Scaling Expressive Quadrupedal Motion via Generative Video Priors
Uni-Mo generates 7,488 language-annotated quadruped motions via LLM prompts and video diffusion, lifts them to 3D trajectories, and trains policies achieving 96.7% real-robot success on 392 sampled motions.
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Beyond Accuracy: Benchmarking Cross-Task Consistency in Unified Multimodal Models
XTC-Bench reveals that strong performance on generation or understanding tasks in unified multimodal models does not guarantee cross-task semantic consistency, which instead depends on how tightly coupled the learning objectives are across modalities.
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Diffusion Models Memorize in Training -- and Generalize in Inference
Diffusion models overfit denoising loss at intermediate noise but generalize in inference as model error smooths the flow field and sampling paths avoid memorized noisy training data.