TAKO demonstrates real-time adversarial takeover of robotic diffusion policies via reusable universal patches on visual inputs, achieving 100% success in steering attacker-chosen trajectories across multiple tasks, encoders, and diffusion methods.
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Flow Matching for Generative Modeling
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abstract
We introduce a new paradigm for generative modeling built on Continuous Normalizing Flows (CNFs), allowing us to train CNFs at unprecedented scale. Specifically, we present the notion of Flow Matching (FM), a simulation-free approach for training CNFs based on regressing vector fields of fixed conditional probability paths. Flow Matching is compatible with a general family of Gaussian probability paths for transforming between noise and data samples -- which subsumes existing diffusion paths as specific instances. Interestingly, we find that employing FM with diffusion paths results in a more robust and stable alternative for training diffusion models. Furthermore, Flow Matching opens the door to training CNFs with other, non-diffusion probability paths. An instance of particular interest is using Optimal Transport (OT) displacement interpolation to define the conditional probability paths. These paths are more efficient than diffusion paths, provide faster training and sampling, and result in better generalization. Training CNFs using Flow Matching on ImageNet leads to consistently better performance than alternative diffusion-based methods in terms of both likelihood and sample quality, and allows fast and reliable sample generation using off-the-shelf numerical ODE solvers.
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- abstract We introduce a new paradigm for generative modeling built on Continuous Normalizing Flows (CNFs), allowing us to train CNFs at unprecedented scale. Specifically, we present the notion of Flow Matching (FM), a simulation-free approach for training CNFs based on regressing vector fields of fixed conditional probability paths. Flow Matching is compatible with a general family of Gaussian probability paths for transforming between noise and data samples -- which subsumes existing diffusion paths as specific instances. Interestingly, we find that employing FM with diffusion paths results in a more
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representative citing papers
WavTTS is the first raw-waveform diffusion TTS model using DiT flow matching and multi-scale mel supervision that approaches SOTA latent zero-shot performance while beating prior end-to-end models.
AnyFlow enables any-step video diffusion by distilling flow-map transitions over arbitrary time intervals with on-policy backward simulation.
TrackCraft3R is the first method to repurpose a video diffusion transformer as a feed-forward dense 3D tracker via dual-latent representations and temporal RoPE alignment, achieving SOTA performance with lower compute.
Data geometry makes time identifiable from noisy interpolants at rate O(1/sqrt(d-k)), rendering the time-blindness gap asymptotically negligible relative to coupling variance.
Flux Matching generalizes score-based generative modeling by using a weaker objective that admits infinitely many non-conservative vector fields with the data as stationary distribution, enabling new design choices beyond traditional score matching.
A-CODE presents a fully atomic one-stage multimodal diffusion model for protein co-design that claims superior unconditional generation performance over prior one- and two-stage models plus a tenfold success-rate gain on hard binder-design tasks.
FMRG reformulates guidance as deterministic optimal control, deriving a single-trajectory method using the flow map that matches or exceeds baselines on reward-guided generation and inverse problems with 3 NFEs at text-to-image scale.
ReConText3D is the first replay-memory framework for continual text-to-3D generation that prevents catastrophic forgetting on new textual categories while preserving quality on previously seen classes.
Diffusion sampling from d-dimensional distributions requires at least ~sqrt(d) adaptive score queries when score estimates have polynomial accuracy.
OP-GRPO is the first off-policy GRPO method for flow-matching models that reuses trajectories via replay buffer and importance sampling corrections, matching on-policy performance with 34.2% of the training steps.
Generative diffusion and flow models are constructed to remain exactly on the Lorentz-invariant massless N-particle phase space manifold during sampling for particle physics applications.
FlowHijack is the first dynamics-aware backdoor attack on flow-matching VLAs that achieves high success rates with stealthy triggers while preserving benign performance and making malicious actions kinematically indistinguishable from normal ones.
Flow-GRPO is the first online RL method for flow matching models, raising GenEval accuracy from 63% to 95% and text-rendering accuracy from 59% to 92% with little reward hacking.
Normalizing flows are constructed by learning the velocity of a stochastic interpolant via a quadratic loss derived from its probability current, yielding an efficient ODE-based alternative to diffusion models.
QWERTY enables training-free motion control in pretrained image-to-video DiTs by warping the frame-invariant semantic subspace of queries in 3D full attention and using the predicted noise as self-guidance for latent optimization.
Proposes diffeomorphic optimization for manifold-constrained problems in generative models via flow maps, with Lie-group extensions for protein design showing metric improvements.
Self-conditioned flow language models solve fixed-point iterations, enabling fixed-point flow maps that distill into FMLM* which outperforms SOTA in few-step generation on OpenWebText.
Flow-Map GRPO uses anchored stochastic flow map composition to enable GRPO-based RL alignment of deterministic few-step flow-map generators while preserving their marginal paths.
Introduces a Bridge latent interface that maps mismatched student latents into teacher space, enabling distillation from modern diffusion teachers to compact one-step students and raising SD 1.5 HPSv3 from 5.4 to 9.4 while keeping one-step speed.
OOPSIEVERSE is a new damage-aware simulation benchmark for household robot manipulation that converts contact, thermal, and fluid signals into task-agnostic damage metrics and demonstrates uses in safer policy learning and benchmarking.
FlexiSLM is the first spoken language model supporting dynamic and controllable frame rates on speech input and output, outperforming fixed-rate 7B models at high quality and enabling faster inference at lower rates like 6.25 Hz.
MUSE shows that the native timestep embedding in diffusion models acts as a parameter-free steering signal for multi-task monocular depth and normal estimation via manifold decoupling in latent space.
Introduces structured DRO for learned inverse problem reconstructions with ambiguity sets aligned to the forward operator, yielding explicit dual representations and a worst-case bound that induces Tikhonov regularization on the operator Lipschitz constant.
citing papers explorer
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Test-time Adversarial Takeover: A Real-time Hijacking Interface against Robotic Diffusion Policies
TAKO demonstrates real-time adversarial takeover of robotic diffusion policies via reusable universal patches on visual inputs, achieving 100% success in steering attacker-chosen trajectories across multiple tasks, encoders, and diffusion methods.
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WavTTS: Towards High-Quality Zero-Shot TTS via Direct Raw Waveform Modeling
WavTTS is the first raw-waveform diffusion TTS model using DiT flow matching and multi-scale mel supervision that approaches SOTA latent zero-shot performance while beating prior end-to-end models.
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AnyFlow: Any-Step Video Diffusion Model with On-Policy Flow Map Distillation
AnyFlow enables any-step video diffusion by distilling flow-map transitions over arbitrary time intervals with on-policy backward simulation.
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TrackCraft3R: Repurposing Video Diffusion Transformers for Dense 3D Tracking
TrackCraft3R is the first method to repurpose a video diffusion transformer as a feed-forward dense 3D tracker via dual-latent representations and temporal RoPE alignment, achieving SOTA performance with lower compute.
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What Time Is It? How Data Geometry Makes Time Conditioning Optional for Flow Matching
Data geometry makes time identifiable from noisy interpolants at rate O(1/sqrt(d-k)), rendering the time-blindness gap asymptotically negligible relative to coupling variance.
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Generative Modeling with Flux Matching
Flux Matching generalizes score-based generative modeling by using a weaker objective that admits infinitely many non-conservative vector fields with the data as stationary distribution, enabling new design choices beyond traditional score matching.
-
A-CODE: Fully Atomic Protein Co-Design with Unified Multimodal Diffusion
A-CODE presents a fully atomic one-stage multimodal diffusion model for protein co-design that claims superior unconditional generation performance over prior one- and two-stage models plus a tenfold success-rate gain on hard binder-design tasks.
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How to Guide Your Flow: Few-Step Alignment via Flow Map Reward Guidance
FMRG reformulates guidance as deterministic optimal control, deriving a single-trajectory method using the flow map that matches or exceeds baselines on reward-guided generation and inverse problems with 3 NFEs at text-to-image scale.
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ReConText3D: Replay-based Continual Text-to-3D Generation
ReConText3D is the first replay-memory framework for continual text-to-3D generation that prevents catastrophic forgetting on new textual categories while preserving quality on previously seen classes.
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Query Lower Bounds for Diffusion Sampling
Diffusion sampling from d-dimensional distributions requires at least ~sqrt(d) adaptive score queries when score estimates have polynomial accuracy.
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OP-GRPO: Efficient Off-Policy GRPO for Flow-Matching Models
OP-GRPO is the first off-policy GRPO method for flow-matching models that reuses trajectories via replay buffer and importance sampling corrections, matching on-policy performance with 34.2% of the training steps.
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Generative models on phase space
Generative diffusion and flow models are constructed to remain exactly on the Lorentz-invariant massless N-particle phase space manifold during sampling for particle physics applications.
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FlowHijack: A Dynamics-Aware Backdoor Attack on Flow-Matching Vision-Language-Action Models
FlowHijack is the first dynamics-aware backdoor attack on flow-matching VLAs that achieves high success rates with stealthy triggers while preserving benign performance and making malicious actions kinematically indistinguishable from normal ones.
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Flow-GRPO: Training Flow Matching Models via Online RL
Flow-GRPO is the first online RL method for flow matching models, raising GenEval accuracy from 63% to 95% and text-rendering accuracy from 59% to 92% with little reward hacking.
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Building Normalizing Flows with Stochastic Interpolants
Normalizing flows are constructed by learning the velocity of a stochastic interpolant via a quadratic loss derived from its probability current, yielding an efficient ODE-based alternative to diffusion models.
-
QWERTY: Training-Free Motion Control via Query-Warped Video Diffusion Transformers
QWERTY enables training-free motion control in pretrained image-to-video DiTs by warping the frame-invariant semantic subspace of queries in 3D full attention and using the predicted noise as self-guidance for latent optimization.
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Diffeomorphic Optimization
Proposes diffeomorphic optimization for manifold-constrained problems in generative models via flow maps, with Lie-group extensions for protein design showing metric improvements.
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Self-conditioned Flow Map Language Models via Fixed-point Flows
Self-conditioned flow language models solve fixed-point iterations, enabling fixed-point flow maps that distill into FMLM* which outperforms SOTA in few-step generation on OpenWebText.
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Flow-Map GRPO: Reinforcement Learning for Few-Step Flow-Map Generators via Anchored Stochastic Composition
Flow-Map GRPO uses anchored stochastic flow map composition to enable GRPO-based RL alignment of deterministic few-step flow-map generators while preserving their marginal paths.
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Cross-Space Distillation: Teaching One-Step Students with Modern Diffusion Teachers
Introduces a Bridge latent interface that maps mismatched student latents into teacher space, enabling distillation from modern diffusion teachers to compact one-step students and raising SD 1.5 HPSv3 from 5.4 to 9.4 while keeping one-step speed.
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OopsieVerse: A Safety Benchmark with Damage-Aware Simulation for Robot Manipulation
OOPSIEVERSE is a new damage-aware simulation benchmark for household robot manipulation that converts contact, thermal, and fluid signals into task-agnostic damage metrics and demonstrates uses in safer policy learning and benchmarking.
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FlexiSLM: A Dynamic and Controllable Frame Rate Spoken Language Model
FlexiSLM is the first spoken language model supporting dynamic and controllable frame rates on speech input and output, outperforming fixed-rate 7B models at high quality and enabling faster inference at lower rates like 6.25 Hz.
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MUSE: Unlocking Timestep as Native Task Steering for One-Step Dense Prediction
MUSE shows that the native timestep embedding in diffusion models acts as a parameter-free steering signal for multi-task monocular depth and normal estimation via manifold decoupling in latent space.
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A Distributionally Robust Framework for Learned Reconstructions in Inverse Problems
Introduces structured DRO for learned inverse problem reconstructions with ambiguity sets aligned to the forward operator, yielding explicit dual representations and a worst-case bound that induces Tikhonov regularization on the operator Lipschitz constant.
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MAVIN: Multi-Shot Audio-Visual Generation with Customized Narrative Control
MAVIN is a dual-tower diffusion framework that produces temporally aligned multi-shot audio-visual content from hierarchical captions with optional multi-identity image and audio references.
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SurgVLA-Bench: Towards Evaluating Vision-Language-Action Models for Laparoscopic Surgical Robotics
SurgVLA-Bench supplies a hierarchical task taxonomy and multi-dimensional evaluation framework for VLA models in laparoscopic robotics simulation, showing autoregressive models excel at semantics while flow-matching models achieve higher precision but all fall short due to endoscopic view constraint
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CORDEX-ML-Bench: A Benchmark for Data-Driven Regional Climate Downscaling -Experiment Design and Overview
CORDEX-ML-Bench benchmarks 40 ML models for climate downscaling and finds generative models outperform deterministic ones on precipitation while historically trained models underestimate future climate signals.
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Flow Reasoning Models: Scaling Reasoning Through Iterative Self-Refinement
Flow models reach 99.2% Sudoku accuracy in 7 passes and 96.1% on out-of-distribution Sudoku-Extreme by selecting dynamically stable candidates and training with self-conditioning plus DPO to avoid failed outputs.
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Masked Diffusion Decoding as $x$-Prediction Flow
Masked diffusion LMs can use continuous x-prediction flow with token-wise asynchronous updates and an RL policy network to reach 97% performance on HumanEval using only 25% of the usual decoding budget.
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MammoFlow: Multiview Mammogram Synthesis with Anatomically Consistent Flow Matching
MammoFlow adds geometric alignment and EMD tissue-distribution consistency to a pretrained flow-matching model to generate anatomically paired mammograms, reporting superior quality and a 5% downstream AUC gain.
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Mind the Gap: Quantifying the Domain Gap in Cross-Sensor Diffusion Super-Resolution
Empirical study finds synthetic-to-real domain gap sharply degrades diffusion SR models on real cross-sensor satellite pairs while real-data training faces optimization and adaptation problems.
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TempAct: Advancing Temporal Plausibility in Autoregressive Video Generation via Planner-Executor RL
TempAct introduces a planner-executor RL framework with hierarchical group exploration and rewards to improve temporal consistency in autoregressive video diffusion models.
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PolyFlow: Continuous Topology Embedding Flow Matching for Artist-style Mesh Generation
PolyFlow converts discrete meshes to continuous per-vertex representations using a topology embedder and applies flow matching for parallel artist-style mesh generation that outperforms autoregressive baselines on Toys4K in Chamfer and Hausdorff distances.
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PhysiFormer: Learning to Simulate Mechanics in World Space
A diffusion transformer learns to simulate rigid and elastic 3D object motion directly in world coordinates without explicit rigidity, causality, or latent-space biases.
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Focusing on What Matters: Saliency-Harnessing Accurate Routing for Diffusion MoE
SharpMoE is a plug-and-play post-training method that uses clean latent features and a trajectory routing loss to enable accurate saliency-based routing in diffusion MoE models for improved visual generation.
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Bridging Vision and Language Concepts through Optimal Transport Semantic Flow
OTF-CBM replaces static cosine similarity in vision-language CBMs with data-driven optimal transport flow to improve concept alignment, accuracy, and faithfulness.
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When Does Synthetic Data Augmentation Improve Score-Based Imbalanced Classification?
Synthetic minority augmentation improves threshold-integrated and optimized classification metrics only under model misspecification by correcting ranking errors, while providing no fundamental benefit beyond possible variance reduction under well-specified score models.
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MotifGen: Spatiotemporal interpolation of misaligned satellite images via multi-source generative modeling, in an application to tropical cyclones
MotifGen is the first multi-source generative model for spatiotemporal interpolation of misaligned microwave cyclone images from heterogeneous instruments at irregular intervals, achieving lower CRPS via self-supervised training and closer power spectra than deterministic baselines when combining in
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MeshFlow: Mesh Generation with Equivariant Flow Matching
MeshFlow applies equivariant optimal-transport flow matching to generate triangle meshes as soups, matching autoregressive quality with an 18x inference speedup.
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Safe Few-Step Generation via Velocity Editing
VESFlow edits the learned velocity field of flow matching models via a safe-conditional posterior to produce safe images in 4 sampling steps, with an optional risk filter and VESFlow+ variant that also repels from unsafe directions.
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RS-Gen: A Multi-Stage Agentic Framework for Reasoning and Search-Augmented Image Generation
RS-Gen proposes a plug-and-play agentic framework with a closed-loop reasoning mechanism that augments base image models to achieve SOTA results on WISE Verified and RISEBench.
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Patched Flow Matching: Generative Wall-Pressure Reconstruction Beyond Training-Domain Scales from Sparse Sensors
Patched Flow Matching reconstructs full-resolution wall-pressure fields on domains four times larger than training data from 0.25% sensor coverage by fusing short-domain DNS patch priors with sparse measurements via training-free posterior sampling.
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Accelerating Simulation and Optimisation of Cyclic Adsorption Processes with Differentiable Programming
A JAX-based differentiable model of pressure vacuum swing adsorption accelerates cyclic steady-state simulation by 20x via Newton iteration and produces a better Pareto front with IPOPT than NSGA-II in two orders of magnitude less time on a post-combustion capture benchmark.
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Intrinsic Flow Matching on Quantum Pure-State Manifolds with Phase-Aligned Transport
IFM learns deterministic tangent velocity fields on CP^{d-1} via Pancharatnam phase-aligned paths, recovering marginal transport with endpoint and stability guarantees while showing empirical gains over Euclidean flow matching on quantum benchmarks.
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Odoriko: A Shape-Aware Multimodal Diffusion Framework for Human Motion
Odoriko is the first single multimodal diffusion model for human motion that directly conditions generation on subject morphology across text, music and video inputs and can recover morphology when it is missing.
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Execution-State Capsules: Graph-Bound Execution-State Checkpoint and Restore for Low-Latency, Small-Batch, On-Device Physical-AI Serving
Execution-state capsules enable graph-bound full-state checkpointing and sub-millisecond restore for LLMs including KV and recurrent states, yielding 3.9x-27x TTFT speedups in on-device physical-AI serving.
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FlowBender: Feedback-Aware Training for Self-Correcting Conditional Flows
FlowBender introduces closed-loop training that lets conditional flow models learn correction policies from their own task-specific alignment errors, outperforming supervised and guidance baselines on fidelity and plausibility.
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TriFlow: Generating Artist-Like 3D Mesh Topology via Nearest-Vertex Vector Fields
TriFlow synthesizes nearest-vertex vector fields via flow-matching to generate artist-like 3D mesh topology, then extracts meshes via clustering and topology-aware QEM simplification.
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A Survey of Full-Duplex Spoken Dialogue Systems: Architectural Hierarchy, Interaction Ontology, and Decision State Machine
A survey proposing an L0-L3 architectural hierarchy, T×I×R interaction ontology, and IDLE/LISTEN/SPEAK/WAIT/DUAL decision state machine for full-duplex spoken dialogue systems, documenting a realization gap between architectural potential and observed behavior due to training data limits.
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The Reward Was in Your Data All Along: Correcting Flow Matching with Discriminator-Guided RL
DRL trains a discriminator on data versus base-model samples in pretrained representation space and uses its logit as reward in KL-regularized RL, cutting guidance-free FID from 9.38 to 2.62 on SiT and similar gains on other backbones.