A new VLA model called SI uses a four-step chain-of-thought to derive driving intent and applies it via classifier-free guidance to a flow-matching trajectory generator, showing competitive Waymo scores and intent-controllable plans.
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Mixture-of-Transformers: A Sparse and Scalable Architecture for Multi-Modal Foundation Models
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abstract
The development of large language models (LLMs) has expanded to multi-modal systems capable of processing text, images, and speech within a unified framework. Training these models demands significantly larger datasets and computational resources compared to text-only LLMs. To address the scaling challenges, we introduce Mixture-of-Transformers (MoT), a sparse multi-modal transformer architecture that significantly reduces pretraining computational costs. MoT decouples non-embedding parameters of the model by modality -- including feed-forward networks, attention matrices, and layer normalization -- enabling modality-specific processing with global self-attention over the full input sequence. We evaluate MoT across multiple settings and model scales. In the Chameleon 7B setting (autoregressive text-and-image generation), MoT matches the dense baseline's performance using only 55.8\% of the FLOPs. When extended to include speech, MoT reaches speech performance comparable to the dense baseline with only 37.2\% of the FLOPs. In the Transfusion setting, where text and image are trained with different objectives, a 7B MoT model matches the image modality performance of the dense baseline with one third of the FLOPs, and a 760M MoT model outperforms a 1.4B dense baseline across key image generation metrics. System profiling further highlights MoT's practical benefits, achieving dense baseline image quality in 47.2\% of the wall-clock time and text quality in 75.6\% of the wall-clock time (measured on AWS p4de.24xlarge instances with NVIDIA A100 GPUs).
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UNVERDICTED 18representative citing papers
NoiseGate learns per-latent timestep schedules as an information-gating policy in diffusion-based world action models, yielding consistent gains on RoboTwin manipulation tasks.
MoSS augments VLAs with decoupled modality streams for multiple physical signals, achieving synergistic gains in real-world robot tasks via joint attention and auxiliary future-signal prediction.
Unified multimodal models exhibit pseudo-unification due to modality-asymmetric entropy encoding and pattern-split responses between text and image generation.
ViBES introduces a speech-language-behavior model using modality-specific transformer experts that jointly generates dialogue and 3D body actions, showing gains over separate co-speech and text-to-motion baselines on multi-turn metrics.
MindVLA-U1 is the first unified streaming VLA architecture that surpasses human drivers on WOD-E2E planning metrics while matching VA latency and preserving language interfaces.
SpatialFusion internalizes 3D geometric awareness into unified image generation models by pairing an MLLM with a spatial transformer that produces depth maps to constrain diffusion generation.
Meta-CoT uses two-level decomposition of editing operations into meta-tasks and a CoT consistency reward to improve granularity and generalization, reporting 15.8% gains across 21 tasks.
OxyGen unifies KV cache management in MoT VLAs to enable cross-task KV sharing and cross-frame continuous batching, delivering up to 3.7x speedup with 200+ tokens/s language and 70 Hz action on on-device platforms.
DriveLaW unifies video world modeling and trajectory planning by injecting video-generator latents into a diffusion planner, achieving SOTA video prediction and a new record on the NAVSIM planning benchmark.
F1 integrates next-scale visual foresight prediction into a Mixture-of-Transformer VLA architecture to reformulate action generation as foresight-guided inverse dynamics, achieving higher success rates on 136 tasks.
Mogao presents a causal unified model with deep fusion, dual encoders, and interleaved position embeddings that achieves strong performance on multi-modal understanding, text-to-image generation, and coherent interleaved outputs including zero-shot editing.
Introduces dual pose-image representation, cross-modal alignment, and iterative construction to improve prompt alignment and diversity in multi-person text-to-image generation.
SenseNova-U1 presents native unified multimodal models that match top understanding VLMs while delivering strong performance in image generation, infographics, and interleaved tasks via the NEO-unify architecture.
Using understanding tasks as direct supervision during post-training improves image generation and editing in unified multimodal models.
GR-3 is a VLA model that generalizes to novel objects, environments, and abstract instructions, outperforms the π0 baseline, and integrates with the new ByteMini bi-manual mobile robot.
OmniVLA-RL uses a mix-of-transformers architecture and flow-matching reformulated as SDE with group segmented policy optimization to surpass prior VLA models on LIBERO benchmarks.
Wan-Image is a unified multi-modal system that integrates LLMs and diffusion transformers to deliver professional-grade image generation features including complex typography, multi-subject consistency, and precise editing, outperforming several prior models in human tests.
citing papers explorer
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Action Emergence from Streaming Intent
A new VLA model called SI uses a four-step chain-of-thought to derive driving intent and applies it via classifier-free guidance to a flow-matching trajectory generator, showing competitive Waymo scores and intent-controllable plans.
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NoiseGate: Learning Per-Latent Timestep Schedules as Information Gating in World Action Models
NoiseGate learns per-latent timestep schedules as an information-gating policy in diffusion-based world action models, yielding consistent gains on RoboTwin manipulation tasks.
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Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models
MoSS augments VLAs with decoupled modality streams for multiple physical signals, achieving synergistic gains in real-world robot tasks via joint attention and auxiliary future-signal prediction.
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Pseudo-Unification: Entropy Probing Reveals Divergent Information Patterns in Unified Multimodal Models
Unified multimodal models exhibit pseudo-unification due to modality-asymmetric entropy encoding and pattern-split responses between text and image generation.
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ViBES: A Conversational Agent with Behaviorally-Intelligent 3D Virtual Body
ViBES introduces a speech-language-behavior model using modality-specific transformer experts that jointly generates dialogue and 3D body actions, showing gains over separate co-speech and text-to-motion baselines on multi-turn metrics.
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MindVLA-U1: VLA Beats VA with Unified Streaming Architecture for Autonomous Driving
MindVLA-U1 is the first unified streaming VLA architecture that surpasses human drivers on WOD-E2E planning metrics while matching VA latency and preserving language interfaces.
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SpatialFusion: Endowing Unified Image Generation with Intrinsic 3D Geometric Awareness
SpatialFusion internalizes 3D geometric awareness into unified image generation models by pairing an MLLM with a spatial transformer that produces depth maps to constrain diffusion generation.
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Meta-CoT: Enhancing Granularity and Generalization in Image Editing
Meta-CoT uses two-level decomposition of editing operations into meta-tasks and a CoT consistency reward to improve granularity and generalization, reporting 15.8% gains across 21 tasks.
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OxyGen: Unified KV Cache Management for VLA Inference under Multi-Task Parallelism
OxyGen unifies KV cache management in MoT VLAs to enable cross-task KV sharing and cross-frame continuous batching, delivering up to 3.7x speedup with 200+ tokens/s language and 70 Hz action on on-device platforms.
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DriveLaW:Unifying Planning and Video Generation in a Latent Driving World
DriveLaW unifies video world modeling and trajectory planning by injecting video-generator latents into a diffusion planner, achieving SOTA video prediction and a new record on the NAVSIM planning benchmark.
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F1: A Vision-Language-Action Model Bridging Understanding and Generation to Actions
F1 integrates next-scale visual foresight prediction into a Mixture-of-Transformer VLA architecture to reformulate action generation as foresight-guided inverse dynamics, achieving higher success rates on 136 tasks.
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Mogao: An Omni Foundation Model for Interleaved Multi-Modal Generation
Mogao presents a causal unified model with deep fusion, dual encoders, and interleaved position embeddings that achieves strong performance on multi-modal understanding, text-to-image generation, and coherent interleaved outputs including zero-shot editing.
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Composing People Together: Iterative Pose-Image Generation for Multi-Person Interaction Scenes
Introduces dual pose-image representation, cross-modal alignment, and iterative construction to improve prompt alignment and diversity in multi-person text-to-image generation.
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SenseNova-U1: Unifying Multimodal Understanding and Generation with NEO-unify Architecture
SenseNova-U1 presents native unified multimodal models that match top understanding VLMs while delivering strong performance in image generation, infographics, and interleaved tasks via the NEO-unify architecture.
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Steering Visual Generation in Unified Multimodal Models with Understanding Supervision
Using understanding tasks as direct supervision during post-training improves image generation and editing in unified multimodal models.
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GR-3 Technical Report
GR-3 is a VLA model that generalizes to novel objects, environments, and abstract instructions, outperforms the π0 baseline, and integrates with the new ByteMini bi-manual mobile robot.
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OmniVLA-RL: A Vision-Language-Action Model with Spatial Understanding and Online RL
OmniVLA-RL uses a mix-of-transformers architecture and flow-matching reformulated as SDE with group segmented policy optimization to surpass prior VLA models on LIBERO benchmarks.
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Wan-Image: Pushing the Boundaries of Generative Visual Intelligence
Wan-Image is a unified multi-modal system that integrates LLMs and diffusion transformers to deliver professional-grade image generation features including complex typography, multi-subject consistency, and precise editing, outperforming several prior models in human tests.