Daily Papers

We propose CARFF: Conditional Auto-encoded Radiance Field for 3D Scene Forecasting, a method for predicting future 3D scenes given past observations, such as 2D ego-centric images. Our method maps an image to a distribution over plausible 3D latent scene configurations using a probabilistic encoder, and predicts the evolution of the hypothesized scenes through time. Our latent scene representation conditions a global Neural Radiance Field (NeRF) to represent a 3D scene model, which enables explainable predictions and straightforward downstream applications. This approach extends beyond previous neural rendering work by considering complex scenarios of uncertainty in environmental states and dynamics. We employ a two-stage training of Pose-Conditional-VAE and NeRF to learn 3D representations. Additionally, we auto-regressively predict latent scene representations as a partially observable Markov decision process, utilizing a mixture density network. We demonstrate the utility of our method in realistic scenarios using the CARLA driving simulator, where CARFF can be used to enable efficient trajectory and contingency planning in complex multi-agent autonomous driving scenarios involving visual occlusions.

Speculative decoding has emerged as a pivotal technique to accelerate LLM inference by employing a lightweight draft model to generate candidate tokens that are subsequently verified by the target model in parallel. However, while this paradigm successfully increases the arithmetic intensity of memory-bound inference, it causes significant compute inefficiency: the majority of draft tokens fail verification and are discarded, resulting in waste of computation. Motivated by the goal of recollecting this wasted computation, we propose a novel system that transforms discarded drafts into reusable tokens. Our key insight is to perform auto-regressive prediction at the hidden states level and postpone the integrating token information after the hidden states generation, so the draft hidden states are not contaminated by incorrect tokens, enabling hidden state reuse. To implement such a system, first we introduce a draft model architecture based on auto-regressive hidden states, which preserves richer semantics than token-based drafters to facilitate draft repurposing. Second, we design an efficient token information injection mechanism that leverages our specialized draft model to construct high-quality draft token trees and enables resampling tokens from verification failures. Third, we eliminate the overhead hidden in our design to further maximize hardware utilization. We conducted extensive evaluations against various baselines, demonstrating up to a 3.3x speedup against standard speculative decoding.

We introduce Diagram of Thought (DoT), a framework that models iterative reasoning in large language models (LLMs) as the construction of a directed acyclic graph (DAG) within a single model. Unlike traditional approaches that represent reasoning as linear chains or trees, DoT organizes propositions, critiques, refinements, and verifications into a cohesive DAG structure, allowing the model to explore complex reasoning pathways while maintaining logical consistency. Each node in the diagram corresponds to a proposition that has been proposed, critiqued, refined, or verified, enabling the LLM to iteratively improve its reasoning through natural language feedback. By leveraging auto-regressive next-token prediction with role-specific tokens, DoT facilitates seamless transitions between proposing ideas and critically evaluating them, providing richer feedback than binary signals. Furthermore, we formalize the DoT framework using Topos Theory, providing a mathematical foundation that ensures logical consistency and soundness in the reasoning process. This approach enhances both the training and inference processes within a single LLM, eliminating the need for multiple models or external control mechanisms. DoT offers a conceptual framework for designing next-generation reasoning-specialized models, emphasizing training efficiency, robust reasoning capabilities, and theoretical grounding. The code is available at https://github.com/diagram-of-thought/diagram-of-thought.

Full-duplex speech interaction, as the most natural and intuitive mode of human communication, is driving artificial intelligence toward more human-like conversational systems. Traditional cascaded speech processing pipelines suffer from critical limitations, including accumulated latency, information loss, and error propagation across modules. To address these issues, recent efforts focus on the end-to-end audio large language models (LLMs) like GPT-4o, which primarily unify speech understanding and generation task. However, most of these models are inherently half-duplex, and rely on a suite of separate, task-specific front-end components, such as voice activity detection (VAD) and turn-taking detection (TD). In our development of speech assistant, we observed that optimizing the speech front-end is equally crucial as advancing the back-end unified model for achieving seamless, responsive interactions. To bridge this gap, we propose the first unified audio front-end LLM (UAF) tailored for full-duplex speech systems. Our model reformulates diverse audio front-end tasks into a single auto-regressive sequence prediction problem, including VAD, TD, speaker recognition (SR), automatic speech recognition (ASR) and question answer (QA). It takes streaming fixed-duration audio chunk (e.g., 600 ms) as input, leverages a reference audio prompt to anchor the target speaker at the beginning, and regressively generates discrete tokens encoding both semantic content and system-level state controls (e.g., interruption signals). Experiments demonstrate that our model achieves leading performance across multiple audio front-end tasks and significantly enhances response latency and interruption accuracy in real-world interaction scenarios.

Surface cutting is a fundamental task in computer graphics, with applications in UV parameterization, texture mapping, and mesh decomposition. However, existing methods often produce technically valid but overly fragmented atlases that lack semantic coherence. We introduce SeamGPT, an auto-regressive model that generates cutting seams by mimicking professional workflows. Our key technical innovation lies in formulating surface cutting as a next token prediction task: sample point clouds on mesh vertices and edges, encode them as shape conditions, and employ a GPT-style transformer to sequentially predict seam segments with quantized 3D coordinates. Our approach achieves exceptional performance on UV unwrapping benchmarks containing both manifold and non-manifold meshes, including artist-created, and 3D-scanned models. In addition, it enhances existing 3D segmentation tools by providing clean boundaries for part decomposition.

Large language models display remarkable capabilities in logical and mathematical reasoning, allowing them to solve complex tasks. Interestingly, these abilities emerge in networks trained on the simple task of next-token prediction. In this work, we present a theoretical framework for studying auto-regressive next-token predictors. We demonstrate that even simple models such as linear next-token predictors, trained on Chain-of-Thought (CoT) data, can approximate any function efficiently computed by a Turing machine. We introduce a new complexity measure -- length complexity -- which measures the number of intermediate tokens in a CoT sequence required to approximate some target function, and analyze the interplay between length complexity and other notions of complexity. Finally, we show experimentally that simple next-token predictors, such as linear networks and shallow Multi-Layer Perceptrons (MLPs), display non-trivial performance on text generation and arithmetic tasks. Our results demonstrate that the power of language models can be attributed, to a great extent, to the auto-regressive next-token training scheme, and not necessarily to a particular choice of architecture.

Visual Auto-Regressive modeling (VAR) has shown promise in bridging the speed and quality gap between autoregressive image models and diffusion models. VAR reformulates autoregressive modeling by decomposing an image into successive resolution scales. During inference, an image is generated by predicting all the tokens in the next (higher-resolution) scale, conditioned on all tokens in all previous (lower-resolution) scales. However, this formulation suffers from reduced image quality due to the parallel generation of all tokens in a resolution scale; has sequence lengths scaling superlinearly in image resolution; and requires retraining to change the sampling schedule. We introduce Hierarchical Masked Auto-Regressive modeling (HMAR), a new image generation algorithm that alleviates these issues using next-scale prediction and masked prediction to generate high-quality images with fast sampling. HMAR reformulates next-scale prediction as a Markovian process, wherein the prediction of each resolution scale is conditioned only on tokens in its immediate predecessor instead of the tokens in all predecessor resolutions. When predicting a resolution scale, HMAR uses a controllable multi-step masked generation procedure to generate a subset of the tokens in each step. On ImageNet 256x256 and 512x512 benchmarks, HMAR models match or outperform parameter-matched VAR, diffusion, and autoregressive baselines. We develop efficient IO-aware block-sparse attention kernels that allow HMAR to achieve faster training and inference times over VAR by over 2.5x and 1.75x respectively, as well as over 3x lower inference memory footprint. Finally, HMAR yields additional flexibility over VAR; its sampling schedule can be changed without further training, and it can be applied to image editing tasks in a zero-shot manner.

In recent years, image synthesis has achieved remarkable advancements, enabling diverse applications in content creation, virtual reality, and beyond. We introduce a novel approach to image generation using Auto-Regressive (AR) modeling, which leverages a next-detail prediction strategy for enhanced fidelity and scalability. While AR models have achieved transformative success in language modeling, replicating this success in vision tasks has presented unique challenges due to the inherent spatial dependencies in images. Our proposed method addresses these challenges by iteratively adding finer details to an image compositionally, constructing it as a hierarchical combination of base and detail image factors. This strategy is shown to be more effective than the conventional next-token prediction and even surpasses the state-of-the-art next-scale prediction approaches. A key advantage of this method is its scalability to higher resolutions without requiring full model retraining, making it a versatile solution for high-resolution image generation.

We propose LauraTSE, an Auto-Regressive Decoder-Only Language Model for Target Speaker Extraction built upon the LauraGPT backbone. LauraTSE employs a small-scale auto-regressive decoder-only language model that generates the initial layers of the target speech's discrete codec representations from the continuous embeddings of both the mixture and reference speech. These outputs serve as coarse-grained predictions. To refine them, a one-step encoder-only language model reconstructs the full codec representation by integrating information from both the mixture and the reference speech, adding fine-grained details. Experimental results show that our approach can achieve promising performance. Additionally, we conduct ablation studies to investigate the data scalability and the contribution of the encoder-only model.

The current large auto-regressive models can generate high-quality, high-resolution images, but these models require hundreds or even thousands of steps of next-token prediction during inference, resulting in substantial time consumption. In existing studies, Jacobi decoding, an iterative parallel decoding algorithm, has been used to accelerate the auto-regressive generation and can be executed without training. However, the Jacobi decoding relies on a deterministic criterion to determine the convergence of iterations. Thus, it works for greedy decoding but is incompatible with sampling-based decoding which is crucial for visual quality and diversity in the current auto-regressive text-to-image generation. In this paper, we propose a training-free probabilistic parallel decoding algorithm, Speculative Jacobi Decoding (SJD), to accelerate auto-regressive text-to-image generation. By introducing a probabilistic convergence criterion, our SJD accelerates the inference of auto-regressive text-to-image generation while maintaining the randomness in sampling-based token decoding and allowing the model to generate diverse images. Specifically, SJD facilitates the model to predict multiple tokens at each step and accepts tokens based on the probabilistic criterion, enabling the model to generate images with fewer steps than the conventional next-token-prediction paradigm. We also investigate the token initialization strategies that leverage the spatial locality of visual data to further improve the acceleration ratio under specific scenarios. We conduct experiments for our proposed SJD on multiple auto-regressive text-to-image generation models, showing the effectiveness of model acceleration without sacrificing the visual quality.

Autoregressive models excel in modeling sequential dependencies by enforcing causal constraints, yet they struggle to capture complex bidirectional patterns due to their unidirectional nature. In contrast, mask-based models leverage bidirectional context, enabling richer dependency modeling. However, they often assume token independence during prediction, which undermines the modeling of sequential dependencies. Additionally, the corruption of sequences through masking or absorption can introduce unnatural distortions, complicating the learning process. To address these issues, we propose Bidirectional Autoregressive Diffusion (BAD), a novel approach that unifies the strengths of autoregressive and mask-based generative models. BAD utilizes a permutation-based corruption technique that preserves the natural sequence structure while enforcing causal dependencies through randomized ordering, enabling the effective capture of both sequential and bidirectional relationships. Comprehensive experiments show that BAD outperforms autoregressive and mask-based models in text-to-motion generation, suggesting a novel pre-training strategy for sequence modeling. The codebase for BAD is available on https://github.com/RohollahHS/BAD.

Current auto-regressive models can generate high-quality, topologically precise meshes; however, they necessitate thousands-or even tens of thousands-of next-token predictions during inference, resulting in substantial latency. We introduce XSpecMesh, a quality-preserving acceleration method for auto-regressive mesh generation models. XSpecMesh employs a lightweight, multi-head speculative decoding scheme to predict multiple tokens in parallel within a single forward pass, thereby accelerating inference. We further propose a verification and resampling strategy: the backbone model verifies each predicted token and resamples any tokens that do not meet the quality criteria. In addition, we propose a distillation strategy that trains the lightweight decoding heads by distilling from the backbone model, encouraging their prediction distributions to align and improving the success rate of speculative predictions. Extensive experiments demonstrate that our method achieves a 1.7x speedup without sacrificing generation quality. Our code will be released.

Large language models (LLMs) have achieved remarkable progress in natural language generation, yet they continue to display puzzling behaviors -- such as repetition and incoherence -- even when exhibiting low perplexity. This highlights a key limitation of conventional evaluation metrics, which emphasize local prediction accuracy while overlooking long-range structural complexity. We introduce correlation dimension, a fractal-geometric measure of self-similarity, to quantify the epistemological complexity of text as perceived by a language model. This measure captures the hierarchical recurrence structure of language, bridging local and global properties in a unified framework. Through extensive experiments, we show that correlation dimension (1) reveals three distinct phases during pretraining, (2) reflects context-dependent complexity, (3) indicates a model's tendency toward hallucination, and (4) reliably detects multiple forms of degeneration in generated text. The method is computationally efficient, robust to model quantization (down to 4-bit precision), broadly applicable across autoregressive architectures (e.g., Transformer and Mamba), and provides fresh insight into the generative dynamics of LLMs.

Recent advances in auto-regressive transformers have achieved remarkable success in generative modeling. However, text-to-3D generation remains challenging, primarily due to bottlenecks in learning discrete 3D representations. Specifically, existing approaches often suffer from information loss during encoding, causing representational distortion before the quantization process. This effect is further amplified by vector quantization, ultimately degrading the geometric coherence of text-conditioned 3D shapes. Moreover, the conventional two-stage training paradigm induces an objective mismatch between reconstruction and text-conditioned auto-regressive generation. To address these issues, we propose View-aware Auto-Regressive 3D (VAR-3D), which intergrates a view-aware 3D Vector Quantized-Variational AutoEncoder (VQ-VAE) to convert the complex geometric structure of 3D models into discrete tokens. Additionally, we introduce a rendering-supervised training strategy that couples discrete token prediction with visual reconstruction, encouraging the generative process to better preserve visual fidelity and structural consistency relative to the input text. Experiments demonstrate that VAR-3D significantly outperforms existing methods in both generation quality and text-3D alignment.

In-context generation is a key component of large language models' (LLMs) open-task generalization capability. By leveraging a few examples as context, LLMs can perform both in-domain and out-of-domain tasks. Recent advancements in auto-regressive vision-language models (VLMs) built upon LLMs have showcased impressive performance in text-to-image generation. However, the potential of in-context learning for general image generation tasks remains largely unexplored. To address this, we introduce X-Prompt, a purely auto-regressive large-vision language model designed to deliver competitive performance across a wide range of both seen and unseen image generation tasks, all within a unified in-context learning framework. X-Prompt incorporates a specialized design that efficiently compresses valuable features from in-context examples, supporting longer in-context token sequences and improving its ability to generalize to unseen tasks. A unified training task for both text and image prediction enables X-Prompt to handle general image generation with enhanced task awareness from in-context examples. Extensive experiments validate the model's performance across diverse seen image generation tasks and its capacity to generalize to previously unseen tasks.

We present Open-MAGVIT2, a family of auto-regressive image generation models ranging from 300M to 1.5B. The Open-MAGVIT2 project produces an open-source replication of Google's MAGVIT-v2 tokenizer, a tokenizer with a super-large codebook (i.e., 2^{18} codes), and achieves the state-of-the-art reconstruction performance (1.17 rFID) on ImageNet 256 times 256. Furthermore, we explore its application in plain auto-regressive models and validate scalability properties. To assist auto-regressive models in predicting with a super-large vocabulary, we factorize it into two sub-vocabulary of different sizes by asymmetric token factorization, and further introduce "next sub-token prediction" to enhance sub-token interaction for better generation quality. We release all models and codes to foster innovation and creativity in the field of auto-regressive visual generation.

In the rapidly advancing field of image generation, Visual Auto-Regressive (VAR) modeling has garnered considerable attention for its innovative next-scale prediction approach. This paradigm offers substantial improvements in efficiency, scalability, and zero-shot generalization. Yet, the inherently coarse-to-fine nature of VAR introduces a prolonged token sequence, leading to prohibitive memory consumption and computational redundancies. To address these bottlenecks, we propose Collaborative Decoding (CoDe), a novel efficient decoding strategy tailored for the VAR framework. CoDe capitalizes on two critical observations: the substantially reduced parameter demands at larger scales and the exclusive generation patterns across different scales. Based on these insights, we partition the multi-scale inference process into a seamless collaboration between a large model and a small model. The large model serves as the 'drafter', specializing in generating low-frequency content at smaller scales, while the smaller model serves as the 'refiner', solely focusing on predicting high-frequency details at larger scales. This collaboration yields remarkable efficiency with minimal impact on quality: CoDe achieves a 1.7x speedup, slashes memory usage by around 50%, and preserves image quality with only a negligible FID increase from 1.95 to 1.98. When drafting steps are further decreased, CoDe can achieve an impressive 2.9x acceleration ratio, reaching 41 images/s at 256x256 resolution on a single NVIDIA 4090 GPU, while preserving a commendable FID of 2.27. The code is available at https://github.com/czg1225/CoDe

Auto-regressive models have emerged as powerful tools for sequential data, from language to video. Understanding how and why these models learn latent representations remains an open theoretical question. In this work, we demonstrate that when trained by empirical risk minimization on data from partially observed linear dynamical systems, two-layer linear auto-regressive models naturally learn to approximate Kalman filtering. In particular, we show that the learned hidden representation coincides, up to a similarity transformation, with the state estimates produced by the optimal (Kalman) filter, even though the model has no explicit knowledge of the underlying dynamics or state. The result follows from three main insights. First, we establish that the Kalman filter is well approximated by an auto-regressive model with bounded truncation error. Second, we show that despite non-convexity, the two-layer optimization landscape is benign, i.e., all stationary points are either strict saddles or global minima. Finally, as our main contributions, we provide finite-sample guarantees on prediction error, parameter estimation error, and latent state recovery. Numerical simulations support the theoretical results and demonstrate that the latent representations of auto-regressive models recover state estimates.

In recent months, Language Models (LMs) have become a part of daily discourse, with focus on OpenAI and the potential of Artificial General Intelligence (AGI). Furthermore, the leaking of LLama's weights to the public has led to an influx of innovations demonstrating the impressive capabilities of generative LMs. While we believe that AGI is still a distant goal, we recognize the potential of LMs in solving tasks such as searching complex documents, compiling reports with basic analysis, and providing assistance in problem-solving. In this paper, we propose formalizing the execution model of language models. We investigate current execution models, to find that this formalism has received little attention, and present our contribution: the first formalized execution model for LMs. We introduce a new algorithm for sampling the predictions of LMs, which we use to build a reliable and inspectable execution model. We introduce a low-level language to write "cognitive program" for this execution model. We hope to shed light on the need for execution models for LMs and encourage further research in this area.

We present ARTcdotV, an efficient framework for auto-regressive video generation with diffusion models. Unlike existing methods that generate entire videos in one-shot, ARTcdotV generates a single frame at a time, conditioned on the previous ones. The framework offers three distinct advantages. First, it only learns simple continual motions between adjacent frames, therefore avoiding modeling complex long-range motions that require huge training data. Second, it preserves the high-fidelity generation ability of the pre-trained image diffusion models by making only minimal network modifications. Third, it can generate arbitrarily long videos conditioned on a variety of prompts such as text, image or their combinations, making it highly versatile and flexible. To combat the common drifting issue in AR models, we propose masked diffusion model which implicitly learns which information can be drawn from reference images rather than network predictions, in order to reduce the risk of generating inconsistent appearances that cause drifting. Moreover, we further enhance generation coherence by conditioning it on the initial frame, which typically contains minimal noise. This is particularly useful for long video generation. When trained for only two weeks on four GPUs, ARTcdotV already can generate videos with natural motions, rich details and a high level of aesthetic quality. Besides, it enables various appealing applications, e.g., composing a long video from multiple text prompts.

VAR is a new generation paradigm that employs 'next-scale prediction' as opposed to 'next-token prediction'. This innovative transformation enables auto-regressive (AR) transformers to rapidly learn visual distributions and achieve robust generalization. However, the original VAR model is constrained to class-conditioned synthesis, relying solely on textual captions for guidance. In this paper, we introduce VAR-CLIP, a novel text-to-image model that integrates Visual Auto-Regressive techniques with the capabilities of CLIP. The VAR-CLIP framework encodes captions into text embeddings, which are then utilized as textual conditions for image generation. To facilitate training on extensive datasets, such as ImageNet, we have constructed a substantial image-text dataset leveraging BLIP2. Furthermore, we delve into the significance of word positioning within CLIP for the purpose of caption guidance. Extensive experiments confirm VAR-CLIP's proficiency in generating fantasy images with high fidelity, textual congruence, and aesthetic excellence. Our project page are https://github.com/daixiangzi/VAR-CLIP

Immersive applications call for synthesizing spatiotemporal 4D content from casual videos without costly 3D supervision. Existing video-to-4D methods typically rely on manually annotated camera poses, which are labor-intensive and brittle for in-the-wild footage. Recent warp-then-inpaint approaches mitigate the need for pose labels by warping input frames along a novel camera trajectory and using an inpainting model to fill missing regions, thereby depicting the 4D scene from diverse viewpoints. However, this trajectory-to-trajectory formulation often entangles camera motion with scene dynamics and complicates both modeling and inference. We introduce SEE4D, a pose-free, trajectory-to-camera framework that replaces explicit trajectory prediction with rendering to a bank of fixed virtual cameras, thereby separating camera control from scene modeling. A view-conditional video inpainting model is trained to learn a robust geometry prior by denoising realistically synthesized warped images and to inpaint occluded or missing regions across virtual viewpoints, eliminating the need for explicit 3D annotations. Building on this inpainting core, we design a spatiotemporal autoregressive inference pipeline that traverses virtual-camera splines and extends videos with overlapping windows, enabling coherent generation at bounded per-step complexity. We validate See4D on cross-view video generation and sparse reconstruction benchmarks. Across quantitative metrics and qualitative assessments, our method achieves superior generalization and improved performance relative to pose- or trajectory-conditioned baselines, advancing practical 4D world modeling from casual videos.

In this paper, we propose a unified layout planning and image generation model, PlanGen, which can pre-plan spatial layout conditions before generating images. Unlike previous diffusion-based models that treat layout planning and layout-to-image as two separate models, PlanGen jointly models the two tasks into one autoregressive transformer using only next-token prediction. PlanGen integrates layout conditions into the model as context without requiring specialized encoding of local captions and bounding box coordinates, which provides significant advantages over the previous embed-and-pool operations on layout conditions, particularly when dealing with complex layouts. Unified prompting allows PlanGen to perform multitasking training related to layout, including layout planning, layout-to-image generation, image layout understanding, etc. In addition, PlanGen can be seamlessly expanded to layout-guided image manipulation thanks to the well-designed modeling, with teacher-forcing content manipulation policy and negative layout guidance. Extensive experiments verify the effectiveness of our PlanGen in multiple layoutrelated tasks, showing its great potential. Code is available at: https://360cvgroup.github.io/PlanGen.

Speculative decoding has been widely used to accelerate autoregressive (AR) text generation. However, its effectiveness in visual AR models remains limited due to token selection ambiguity, where multiple tokens receive similarly low probabilities, reducing acceptance rates. While dynamic tree drafting has been proposed to improve speculative decoding, we show that it fails to mitigate token selection ambiguity, resulting in shallow draft trees and suboptimal acceleration. To address this, we introduce LANTERN++, a novel framework that integrates static tree drafting with a relaxed acceptance condition, allowing drafts to be selected independently of low-confidence predictions. This enables deeper accepted sequences, improving decoding efficiency while preserving image quality. Extensive experiments on state-of-the-art visual AR models demonstrate that LANTERN++ significantly accelerates inference, achieving up to times 2.56 speedup over standard AR decoding while maintaining high image quality.

We train models to Predict Ego-centric Video from human Actions (PEVA), given the past video and an action represented by the relative 3D body pose. By conditioning on kinematic pose trajectories, structured by the joint hierarchy of the body, our model learns to simulate how physical human actions shape the environment from a first-person point of view. We train an auto-regressive conditional diffusion transformer on Nymeria, a large-scale dataset of real-world egocentric video and body pose capture. We further design a hierarchical evaluation protocol with increasingly challenging tasks, enabling a comprehensive analysis of the model's embodied prediction and control abilities. Our work represents an initial attempt to tackle the challenges of modeling complex real-world environments and embodied agent behaviors with video prediction from the perspective of a human.

Accurately perceiving instances and predicting their future motion are key tasks for autonomous vehicles, enabling them to navigate safely in complex urban traffic. While bird's-eye view (BEV) representations are commonplace in perception for autonomous driving, their potential in a motion prediction setting is less explored. Existing approaches for BEV instance prediction from surround cameras rely on a multi-task auto-regressive setup coupled with complex post-processing to predict future instances in a spatio-temporally consistent manner. In this paper, we depart from this paradigm and propose an efficient novel end-to-end framework named POWERBEV, which differs in several design choices aimed at reducing the inherent redundancy in previous methods. First, rather than predicting the future in an auto-regressive fashion, POWERBEV uses a parallel, multi-scale module built from lightweight 2D convolutional networks. Second, we show that segmentation and centripetal backward flow are sufficient for prediction, simplifying previous multi-task objectives by eliminating redundant output modalities. Building on this output representation, we propose a simple, flow warping-based post-processing approach which produces more stable instance associations across time. Through this lightweight yet powerful design, POWERBEV outperforms state-of-the-art baselines on the NuScenes Dataset and poses an alternative paradigm for BEV instance prediction. We made our code publicly available at: https://github.com/EdwardLeeLPZ/PowerBEV.

We discovered the underlying physics in Next-token Prediction (NTP). We identified the law of information conservation within NTP and proposed the First Law of Information Capacity (IC-1), demonstrating that the essence of intelligence emergence in auto-regressive models is fundamentally a process of information transfer. We also introduced Landauer's Principle into NTP, formulating the Second Law of Information Capacity (IC-2), which establishes the relationship between auto-regressive model training and energy consumption. Additionally, we presented several corollaries, which hold practical significance for production practices. Finally, we validated the compatibility and complementarity of our findings with existing theories.

Foundation models offer a promising route to compress multi-modal physiological signals into compact representations of human health, with broad applications across sleep medicine, cardiology, neurology and other healthcare domains. Existing models have typically been trained with masked-reconstruction or contrastive objectives. However, masked reconstruction may be poorly suited to the stochastic nature of these signals, while contrastive approaches rely on positive-pair definitions despite the semantic invariances of physiological signals being poorly understood. In this work, we show that next-token prediction is a simple and scalable alternative. We develop Hypnos, a multi-modal sleep foundation model trained using eight different sensing modalities (e.g. EEG, ECG, respiratory signals) drawn from over 20,000 overnight polysomnography recordings. We tokenize each modality into streams of discrete tokens using residual vector quantization, then train a large auto-regressive RQ-Transformer to jointly predict the next token across all modalities in parallel. After training, Hypnos can be applied to continuous streams of sensor data from any subset of supported modalities, generating embeddings for downstream tasks. Across a range of benchmarks, Hypnos significantly outperforms existing foundation models. In sleep stage classification, we match the performance of strong supervised baselines on held-out test sets whilst using \(100\times\) less labelled data. Hypnos even generalises to daytime physiology, surpassing a dedicated ECG foundation model at detecting atrial fibrillation. Our results demonstrate that next-token prediction is a strong self-supervised objective for representation learning from multi-modal physiological signals.

We propose TalkNet, a non-autoregressive convolutional neural model for speech synthesis with explicit pitch and duration prediction. The model consists of three feed-forward convolutional networks. The first network predicts grapheme durations. An input text is expanded by repeating each symbol according to the predicted duration. The second network predicts pitch value for every mel frame. The third network generates a mel-spectrogram from the expanded text conditioned on predicted pitch. All networks are based on 1D depth-wise separable convolutional architecture. The explicit duration prediction eliminates word skipping and repeating. The quality of the generated speech nearly matches the best auto-regressive models - TalkNet trained on the LJSpeech dataset got MOS 4.08. The model has only 13.2M parameters, almost 2x less than the present state-of-the-art text-to-speech models. The non-autoregressive architecture allows for fast training and inference. The small model size and fast inference make the TalkNet an attractive candidate for embedded speech synthesis.

How can we predict future interaction trajectories of human hands in a scene given high-level colloquial task specifications in the form of natural language? In this paper, we extend the classic hand trajectory prediction task to two tasks involving explicit or implicit language queries. Our proposed tasks require extensive understanding of human daily activities and reasoning abilities about what should be happening next given cues from the current scene. We also develop new benchmarks to evaluate the proposed two tasks, Vanilla Hand Prediction (VHP) and Reasoning-Based Hand Prediction (RBHP). We enable solving these tasks by integrating high-level world knowledge and reasoning capabilities of Vision-Language Models (VLMs) with the auto-regressive nature of low-level ego-centric hand trajectories. Our model, HandsOnVLM is a novel VLM that can generate textual responses and produce future hand trajectories through natural-language conversations. Our experiments show that HandsOnVLM outperforms existing task-specific methods and other VLM baselines on proposed tasks, and demonstrates its ability to effectively utilize world knowledge for reasoning about low-level human hand trajectories based on the provided context. Our website contains code and detailed video results https://www.chenbao.tech/handsonvlm/

Visual Auto-Regressive (VAR) models significantly reduce inference steps through the "next-scale" prediction paradigm. However, progressive multi-scale generation incurs substantial memory overhead due to cumulative KV caching, limiting practical deployment. We observe a scale-depth asymmetric dependency in VAR: early scales exhibit extreme sensitivity to network depth, while later scales remain robust to depth reduction. Inspired by this, we propose VARiant: by equidistant sampling, we select multiple subnets ranging from 16 to 2 layers from the original 30-layer VAR-d30 network. Early scales are processed by the full network, while later scales utilize subnet. Subnet and the full network share weights, enabling flexible depth adjustment within a single model. However, weight sharing between subnet and the entire network can lead to optimization conflicts. To address this, we propose a progressive training strategy that breaks through the Pareto frontier of generation quality for both subnets and the full network under fixed-ratio training, achieving joint optimality. Experiments on ImageNet demonstrate that, compared to the pretrained VAR-d30 (FID 1.95), VARiant-d16 and VARiant-d8 achieve nearly equivalent quality (FID 2.05/2.12) while reducing memory consumption by 40-65%. VARiant-d2 achieves 3.5 times speedup and 80% memory reduction at moderate quality cost (FID 2.97). In terms of deployment, VARiant's single-model architecture supports zero-cost runtime depth switching and provides flexible deployment options from high quality to extreme efficiency, catering to diverse application scenarios.

Language models have recently been shown capable of performing regression tasks wherein numeric predictions are represented as decoded strings. In this work, we provide theoretical grounds for this capability and furthermore investigate the utility of causal auto-regressive sequence models when they are applied to any feature representation. We find that, despite being trained in the usual way - for next-token prediction via cross-entropy loss - decoding-based regression is as performant as traditional approaches for tabular regression tasks, while being flexible enough to capture arbitrary distributions, such as in the task of density estimation.

We present MeshFlow, a new method for generating artist-like 3D meshes. Current mesh generators often adopt Auto-Regressive (AR) next-token prediction, a natural choice given the discrete nature of mesh topology. However, AR methods scale poorly because the inference cost is quadratic in mesh size. They also require discretizing the vertex coordinates, which introduces quantization errors. To address these challenges, we introduce a Variational Autoencoder (VAE) that, supervised with a contrastive loss, represents both continuous vertex positions and discrete connectivity in a continuous latent space. This latent space is significantly more compact than prior token-based mesh representations. We then build a 3D generator based on a Rectified Flow transformer, generating all mesh vertices and edges in parallel. Our model generates meshes 18x faster than the fastest AR generator while also achieving excellent accuracy across standard mesh-generation metrics. Homepage: https://mesh-flow.github.io/, Code: https://github.com/facebookresearch/meshflow

We address the challenge of efficient auto-regressive generation in sequence prediction models by introducing FutureFill - a method for fast generation that applies to any sequence prediction algorithm based on convolutional operators. Our approach reduces the generation time requirement from quadratic to quasilinear relative to the context length. Additionally, FutureFill requires a prefill cache sized only by the number of tokens generated, which is smaller than the cache requirements for standard convolutional and attention-based models. We validate our theoretical findings with experimental evidence demonstrating correctness and efficiency gains in a synthetic generation task.

Recent advances in self-supervised learning for Vision Transformers (ViTs) have fueled breakthroughs in remote sensing (RS) foundation models. However, the quadratic complexity of self-attention poses a significant barrier to scalability, particularly for large models and high-resolution images. While the linear-complexity Mamba architecture offers a promising alternative, existing RS applications of Mamba remain limited to supervised tasks on small, domain-specific datasets. To address these challenges, we propose RoMA, a framework that enables scalable self-supervised pretraining of Mamba-based RS foundation models using large-scale, diverse, unlabeled data. RoMA enhances scalability for high-resolution images through a tailored auto-regressive learning strategy, incorporating two key innovations: 1) a rotation-aware pretraining mechanism combining adaptive cropping with angular embeddings to handle sparsely distributed objects with arbitrary orientations, and 2) multi-scale token prediction objectives that address the extreme variations in object scales inherent to RS imagery. Systematic empirical studies validate that Mamba adheres to RS data and parameter scaling laws, with performance scaling reliably as model and data size increase. Furthermore, experiments across scene classification, object detection, and semantic segmentation tasks demonstrate that RoMA-pretrained Mamba models consistently outperform ViT-based counterparts in both accuracy and computational efficiency. The source code and pretrained models will be released at https://github.com/MiliLab/RoMA.

Indoor scene synthesis involves automatically picking and placing furniture appropriately on a floor plan, so that the scene looks realistic and is functionally plausible. Such scenes can serve as homes for immersive 3D experiences, or be used to train embodied agents. Existing methods for this task rely on labeled categories of furniture, e.g. bed, chair or table, to generate contextually relevant combinations of furniture. Whether heuristic or learned, these methods ignore instance-level visual attributes of objects, and as a result may produce visually less coherent scenes. In this paper, we introduce an auto-regressive scene model which can output instance-level predictions, using general purpose image embedding based on CLIP. This allows us to learn visual correspondences such as matching color and style, and produce more functionally plausible and aesthetically pleasing scenes. Evaluated on the 3D-FRONT dataset, our model achieves SOTA results in scene synthesis and improves auto-completion metrics by over 50%. Moreover, our embedding-based approach enables zero-shot text-guided scene synthesis and editing, which easily generalizes to furniture not seen during training.

In this work, we introduce Vision-Language Generative Pre-trained Transformer (VL-GPT), a transformer model proficient at concurrently perceiving and generating visual and linguistic data. VL-GPT achieves a unified pre-training approach for both image and text modalities by employing a straightforward auto-regressive objective, thereby enabling the model to process image and text as seamlessly as a language model processes text. To accomplish this, we initially propose a novel image tokenizer-detokenizer framework for visual data, specifically designed to transform raw images into a sequence of continuous embeddings and reconstruct them accordingly. In combination with the existing text tokenizer and detokenizer, this framework allows for the encoding of interleaved image-text data into a multimodal sequence, which can subsequently be fed into the transformer model. Consequently, VL-GPT can perform large-scale pre-training on multimodal corpora utilizing a unified auto-regressive objective (i.e., next-token prediction). Upon completion of pre-training, VL-GPT exhibits remarkable zero-shot and few-shot performance across a diverse range of vision and language understanding and generation tasks, including image captioning, visual question answering, text-to-image generation, and more. Additionally, the pre-trained model retrains in-context learning capabilities when provided with multimodal prompts. We further conduct instruction tuning on our VL-GPT, highlighting its exceptional potential for multimodal assistance. The source code and model weights shall be released.

In the domain of 3D content creation, achieving optimal mesh topology through AI models has long been a pursuit for 3D artists. Previous methods, such as MeshGPT, have explored the generation of ready-to-use 3D objects via mesh auto-regressive techniques. While these methods produce visually impressive results, their reliance on token-by-token predictions in the auto-regressive process leads to several significant limitations. These include extremely slow generation speeds and an uncontrollable number of mesh faces. In this paper, we introduce MeshCraft, a novel framework for efficient and controllable mesh generation, which leverages continuous spatial diffusion to generate discrete triangle faces. Specifically, MeshCraft consists of two core components: 1) a transformer-based VAE that encodes raw meshes into continuous face-level tokens and decodes them back to the original meshes, and 2) a flow-based diffusion transformer conditioned on the number of faces, enabling the generation of high-quality 3D meshes with a predefined number of faces. By utilizing the diffusion model for the simultaneous generation of the entire mesh topology, MeshCraft achieves high-fidelity mesh generation at significantly faster speeds compared to auto-regressive methods. Specifically, MeshCraft can generate an 800-face mesh in just 3.2 seconds (35times faster than existing baselines). Extensive experiments demonstrate that MeshCraft outperforms state-of-the-art techniques in both qualitative and quantitative evaluations on ShapeNet dataset and demonstrates superior performance on Objaverse dataset. Moreover, it integrates seamlessly with existing conditional guidance strategies, showcasing its potential to relieve artists from the time-consuming manual work involved in mesh creation.

This paper proposes a simple, yet effective framework, called GiT, simultaneously applicable for various vision tasks only with a vanilla ViT. Motivated by the universality of the Multi-layer Transformer architecture (e.g, GPT) widely used in large language models (LLMs), we seek to broaden its scope to serve as a powerful vision foundation model (VFM). However, unlike language modeling, visual tasks typically require specific modules, such as bounding box heads for detection and pixel decoders for segmentation, greatly hindering the application of powerful multi-layer transformers in the vision domain. To solve this, we design a universal language interface that empowers the successful auto-regressive decoding to adeptly unify various visual tasks, from image-level understanding (e.g., captioning), over sparse perception (e.g., detection), to dense prediction (e.g., segmentation). Based on the above designs, the entire model is composed solely of a ViT, without any specific additions, offering a remarkable architectural simplification. GiT is a multi-task visual model, jointly trained across five representative benchmarks without task-specific fine-tuning. Interestingly, our GiT builds a new benchmark in generalist performance, and fosters mutual enhancement across tasks, leading to significant improvements compared to isolated training. This reflects a similar impact observed in LLMs. Further enriching training with 27 datasets, GiT achieves strong zero-shot results over various tasks. Due to its simple design, this paradigm holds promise for narrowing the architectural gap between vision and language. Code and models will be available at https://github.com/Haiyang-W/GiT.

Joint-embedding predictive architectures (JEPAs) have shown substantial promise in self-supervised representation learning, yet their application in generative modeling remains underexplored. Conversely, diffusion models have demonstrated significant efficacy in modeling arbitrary probability distributions. In this paper, we introduce Denoising with a Joint-Embedding Predictive Architecture (D-JEPA), pioneering the integration of JEPA within generative modeling. By recognizing JEPA as a form of masked image modeling, we reinterpret it as a generalized next-token prediction strategy, facilitating data generation in an auto-regressive manner. Furthermore, we incorporate diffusion loss to model the per-token probability distribution, enabling data generation in a continuous space. We also adapt flow matching loss as an alternative to diffusion loss, thereby enhancing the flexibility of D-JEPA. Empirically, with increased GFLOPs, D-JEPA consistently achieves lower FID scores with fewer training epochs, indicating its good scalability. Our base, large, and huge models outperform all previous generative models across all scales on class-conditional ImageNet benchmarks. Beyond image generation, D-JEPA is well-suited for other continuous data modeling, including video and audio.

Graph generation is a critical task in numerous domains, including molecular design and social network analysis, due to its ability to model complex relationships and structured data. While most modern graph generative models utilize adjacency matrix representations, this work revisits an alternative approach that represents graphs as sequences of node set and edge set. We advocate for this approach due to its efficient encoding of graphs and propose a novel representation. Based on this representation, we introduce the Graph Generative Pre-trained Transformer (G2PT), an auto-regressive model that learns graph structures via next-token prediction. To further exploit G2PT's capabilities as a general-purpose foundation model, we explore fine-tuning strategies for two downstream applications: goal-oriented generation and graph property prediction. We conduct extensive experiments across multiple datasets. Results indicate that G2PT achieves superior generative performance on both generic graph and molecule datasets. Furthermore, G2PT exhibits strong adaptability and versatility in downstream tasks from molecular design to property prediction.

Recent studies have successfully shown that large language models (LLMs) can be successfully used for generative error correction (GER) on top of the automatic speech recognition (ASR) output. Specifically, an LLM is utilized to carry out a direct mapping from the N-best hypotheses list generated by an ASR system to the predicted output transcription. However, despite its effectiveness, GER introduces extra data uncertainty since the LLM is trained without taking into account acoustic information available in the speech signal. In this work, we aim to overcome such a limitation by infusing acoustic information before generating the predicted transcription through a novel late fusion solution termed Uncertainty-Aware Dynamic Fusion (UADF). UADF is a multimodal fusion approach implemented into an auto-regressive decoding process and works in two stages: (i) It first analyzes and calibrates the token-level LLM decision, and (ii) it then dynamically assimilates the information from the acoustic modality. Experimental evidence collected from various ASR tasks shows that UADF surpasses existing fusion mechanisms in several ways. It yields significant improvements in word error rate (WER) while mitigating data uncertainty issues in LLM and addressing the poor generalization relied with sole modality during fusion. We also demonstrate that UADF seamlessly adapts to audio-visual speech recognition.

Real-world applications like video gaming and virtual reality often demand the ability to model 3D scenes that users can explore along custom camera trajectories. While significant progress has been made in generating 3D objects from text or images, creating long-range, 3D-consistent, explorable 3D scenes remains a complex and challenging problem. In this work, we present Voyager, a novel video diffusion framework that generates world-consistent 3D point-cloud sequences from a single image with user-defined camera path. Unlike existing approaches, Voyager achieves end-to-end scene generation and reconstruction with inherent consistency across frames, eliminating the need for 3D reconstruction pipelines (e.g., structure-from-motion or multi-view stereo). Our method integrates three key components: 1) World-Consistent Video Diffusion: A unified architecture that jointly generates aligned RGB and depth video sequences, conditioned on existing world observation to ensure global coherence 2) Long-Range World Exploration: An efficient world cache with point culling and an auto-regressive inference with smooth video sampling for iterative scene extension with context-aware consistency, and 3) Scalable Data Engine: A video reconstruction pipeline that automates camera pose estimation and metric depth prediction for arbitrary videos, enabling large-scale, diverse training data curation without manual 3D annotations. Collectively, these designs result in a clear improvement over existing methods in visual quality and geometric accuracy, with versatile applications.

Triangle meshes play a crucial role in 3D applications for efficient manipulation and rendering. While auto-regressive methods generate structured meshes by predicting discrete vertex tokens, they are often constrained by limited face counts and mesh incompleteness. To address these challenges, we propose DeepMesh, a framework that optimizes mesh generation through two key innovations: (1) an efficient pre-training strategy incorporating a novel tokenization algorithm, along with improvements in data curation and processing, and (2) the introduction of Reinforcement Learning (RL) into 3D mesh generation to achieve human preference alignment via Direct Preference Optimization (DPO). We design a scoring standard that combines human evaluation with 3D metrics to collect preference pairs for DPO, ensuring both visual appeal and geometric accuracy. Conditioned on point clouds and images, DeepMesh generates meshes with intricate details and precise topology, outperforming state-of-the-art methods in both precision and quality. Project page: https://zhaorw02.github.io/DeepMesh/

Synthesizing human motions in 3D environments, particularly those with complex activities such as locomotion, hand-reaching, and human-object interaction, presents substantial demands for user-defined waypoints and stage transitions. These requirements pose challenges for current models, leading to a notable gap in automating the animation of characters from simple human inputs. This paper addresses this challenge by introducing a comprehensive framework for synthesizing multi-stage scene-aware interaction motions directly from a single text instruction and goal location. Our approach employs an auto-regressive diffusion model to synthesize the next motion segment, along with an autonomous scheduler predicting the transition for each action stage. To ensure that the synthesized motions are seamlessly integrated within the environment, we propose a scene representation that considers the local perception both at the start and the goal location. We further enhance the coherence of the generated motion by integrating frame embeddings with language input. Additionally, to support model training, we present a comprehensive motion-captured dataset comprising 16 hours of motion sequences in 120 indoor scenes covering 40 types of motions, each annotated with precise language descriptions. Experimental results demonstrate the efficacy of our method in generating high-quality, multi-stage motions closely aligned with environmental and textual conditions.

Multimodal Large Language Models (MLLMs) require high-resolution visual information to perform fine-grained perception, yet processing entire high-resolution images is computationally prohibitive. While recent methods leverage a Region-of-Interest (RoI) mechanism to focus on salient areas, they typically present a difficult trade-off: training-based approaches depend on large-scale annotated datasets, while training-free methods that utilize the model's internal attention are computationally inefficient and less accurate, requiring either multi-pass prefill stages or reliance on the slow auto-regressive decoding process. In this paper, we propose an efficient, annotation-free Self-Distilled Region Proposal Network (SD-RPN) that resolves this trade-off. The SD-RPN is built around a pipeline that transforms the noisy attention maps from the MLLM's middle layers into high-quality pseudo-RoI labels by explicitly denoising the signal and resolving ambiguity. We use these labels to train a lightweight Region Proposal Network (RPN) that learns a more precise localization. This RPN is also highly efficient, predicting the RoI in a single forward pass using features from the MLLM's middle layers, decoupling RoI identification from the auto-regressive generation and avoiding costly multi-pass operations.To validate our approach, we integrate the framework into the LLaVA-1.5 architecture. Despite being trained on only a few (e.g. 10K) question-answer pairs, our method demonstrates exceptional data efficiency and generalization, achieving over a 10% absolute accuracy improvement on unseen benchmarks, including TextVQA, DocVQA, and V-Star. Our work presents a practical and scalable solution for enhancing the fine-grained perception of MLLMs without requiring costly supervision or full model fine-tuning. Code is available at https://github.com/YuHengsss/SD-RPN.

Large Language Models (LLMs) are discovered to suffer from accurately retrieving key information. To address this, we propose Mask-Enhanced Autoregressive Prediction (MEAP), a simple yet effective training paradigm that seamlessly integrates Masked Language Modeling (MLM) into Next-Token Prediction (NTP) to enhance the latter's in-context retrieval capabilities. Specifically, MEAP first randomly masks a small fraction of input tokens and then directly performs the standard next-token prediction autoregressive using a decoder-only Transformer. MEAP eliminates the need for bidirectional attention or encoder-decoder architectures for MLM, incurring no additional computational overhead during pre-training or inference. Intensive experiments demonstrate that MEAP substantially outperforms NTP on key information retrieval and long-context reasoning tasks, while performing on par or better on commonsense reasoning tasks. The benefits of MEAP also extend to supervised fine-tuning, where it shows remarkable advantages in lost-in-the-middle scenarios, outperforming NTP by 11.77 percentage points. Our analysis indicates that MEAP's effectiveness arises from its ability to promote more distinguishable attention scores by concentrating on a reduced set of non-masked tokens. This mechanism improves the model's focus on task-relevant signals while mitigating the influence of peripheral context. These findings position MEAP as a promising training paradigm for large language models.

We introduce AuriStream, a biologically inspired model for encoding speech via a two-stage framework inspired by the human auditory processing hierarchy. The first stage transforms raw audio into a time-frequency representation based on the human cochlea, from which we extract discrete cochlear tokens. The second stage applies an autoregressive sequence model over the cochlear tokens. AuriStream learns meaningful phoneme and word representations, and state-of-the-art lexical semantics. AuriStream shows competitive performance on diverse downstream SUPERB speech tasks. Complementing AuriStream's strong representational capabilities, it generates continuations of audio which can be visualized in a spectrogram space and decoded back into audio, providing insights into the model's predictions. In summary, we present a two-stage framework for speech representation learning to advance the development of more human-like models that efficiently handle a range of speech-based tasks.

The ability to accurately model the fitness landscape of protein sequences is critical to a wide range of applications, from quantifying the effects of human variants on disease likelihood, to predicting immune-escape mutations in viruses and designing novel biotherapeutic proteins. Deep generative models of protein sequences trained on multiple sequence alignments have been the most successful approaches so far to address these tasks. The performance of these methods is however contingent on the availability of sufficiently deep and diverse alignments for reliable training. Their potential scope is thus limited by the fact many protein families are hard, if not impossible, to align. Large language models trained on massive quantities of non-aligned protein sequences from diverse families address these problems and show potential to eventually bridge the performance gap. We introduce Tranception, a novel transformer architecture leveraging autoregressive predictions and retrieval of homologous sequences at inference to achieve state-of-the-art fitness prediction performance. Given its markedly higher performance on multiple mutants, robustness to shallow alignments and ability to score indels, our approach offers significant gain of scope over existing approaches. To enable more rigorous model testing across a broader range of protein families, we develop ProteinGym -- an extensive set of multiplexed assays of variant effects, substantially increasing both the number and diversity of assays compared to existing benchmarks.

In robotic visuomotor policy learning, diffusion-based models have achieved significant success in improving the accuracy of action trajectory generation compared to traditional autoregressive models. However, they suffer from inefficiency due to multiple denoising steps and limited flexibility from complex constraints. In this paper, we introduce Coarse-to-Fine AutoRegressive Policy (CARP), a novel paradigm for visuomotor policy learning that redefines the autoregressive action generation process as a coarse-to-fine, next-scale approach. CARP decouples action generation into two stages: first, an action autoencoder learns multi-scale representations of the entire action sequence; then, a GPT-style transformer refines the sequence prediction through a coarse-to-fine autoregressive process. This straightforward and intuitive approach produces highly accurate and smooth actions, matching or even surpassing the performance of diffusion-based policies while maintaining efficiency on par with autoregressive policies. We conduct extensive evaluations across diverse settings, including single-task and multi-task scenarios on state-based and image-based simulation benchmarks, as well as real-world tasks. CARP achieves competitive success rates, with up to a 10% improvement, and delivers 10x faster inference compared to state-of-the-art policies, establishing a high-performance, efficient, and flexible paradigm for action generation in robotic tasks.

This paper shows that the autoregressive model is an effective and scalable monocular depth estimator. Our idea is simple: We tackle the monocular depth estimation (MDE) task with an autoregressive prediction paradigm, based on two core designs. First, our depth autoregressive model (DAR) treats the depth map of different resolutions as a set of tokens, and conducts the low-to-high resolution autoregressive objective with a patch-wise casual mask. Second, our DAR recursively discretizes the entire depth range into more compact intervals, and attains the coarse-to-fine granularity autoregressive objective in an ordinal-regression manner. By coupling these two autoregressive objectives, our DAR establishes new state-of-the-art (SOTA) on KITTI and NYU Depth v2 by clear margins. Further, our scalable approach allows us to scale the model up to 2.0B and achieve the best RMSE of 1.799 on the KITTI dataset (5% improvement) compared to 1.896 by the current SOTA (Depth Anything). DAR further showcases zero-shot generalization ability on unseen datasets. These results suggest that DAR yields superior performance with an autoregressive prediction paradigm, providing a promising approach to equip modern autoregressive large models (e.g., GPT-4o) with depth estimation capabilities.

Remote sensing change detection aims to localize and characterize scene changes between two time points and is central to applications such as environmental monitoring and disaster assessment. Meanwhile, visual autoregressive models (VARs) have recently shown impressive image generation capability, but their adoption for pixel-level discriminative tasks remains limited due to weak controllability, suboptimal dense prediction performance and exposure bias. We introduce RemoteVAR, a new VAR-based change detection framework that addresses these limitations by conditioning autoregressive prediction on multi-resolution fused bi-temporal features via cross-attention, and by employing an autoregressive training strategy designed specifically for change map prediction. Extensive experiments on standard change detection benchmarks show that RemoteVAR delivers consistent and significant improvements over strong diffusion-based and transformer-based baselines, establishing a competitive autoregressive alternative for remote sensing change detection. Code will be available https://github.com/yilmazkorkmaz1/RemoteVAR{here}.

The boundary representation (B-Rep) is the standard data structure used in Computer-Aided Design (CAD) for defining solid models. Despite recent progress, directly generating B-Reps end-to-end with precise geometry and watertight topology remains a challenge. This paper presents AutoBrep, a novel Transformer model that autoregressively generates B-Reps with high quality and validity. AutoBrep employs a unified tokenization scheme that encodes both geometric and topological characteristics of a B-Rep model as a sequence of discrete tokens. Geometric primitives (i.e., surfaces and curves) are encoded as latent geometry tokens, and their structural relationships are defined as special topological reference tokens. Sequence order in AutoBrep naturally follows a breadth first traversal of the B-Rep face adjacency graph. At inference time, neighboring faces and edges along with their topological structure are progressively generated. Extensive experiments demonstrate the advantages of our unified representation when coupled with next-token prediction for B-Rep generation. AutoBrep outperforms baselines with better quality and watertightness. It is also highly scalable to complex solids with good fidelity and inference speed. We further show that autocompleting B-Reps is natively supported through our unified tokenization, enabling user-controllable CAD generation with minimal changes. Code is available at https://github.com/AutodeskAILab/AutoBrep.

Foundation models of time series have not been fully developed due to the limited availability of time series corpora and the underexploration of scalable pre-training. Based on the similar sequential formulation of time series and natural language, increasing research demonstrates the feasibility of leveraging large language models (LLM) for time series. Nevertheless, the inherent autoregressive property and decoder-only architecture of LLMs have not been fully considered, resulting in insufficient utilization of LLM abilities. To fully revitalize the general-purpose token transition and multi-step generation capability of large language models, we propose AutoTimes to repurpose LLMs as autoregressive time series forecasters, which projects time series into the embedding space of language tokens and autoregressively generates future predictions with arbitrary lengths. Compatible with any decoder-only LLMs, the consequent forecaster exhibits the flexibility of the lookback length and scalability with larger LLMs. Further, we formulate time series as prompts, extending the context for prediction beyond the lookback window, termed in-context forecasting. By introducing LLM-embedded textual timestamps, AutoTimes can utilize chronological information to align multivariate time series. Empirically, AutoTimes achieves state-of-the-art with 0.1% trainable parameters and over 5times training/inference speedup compared to advanced LLM-based forecasters. Code is available at this repository: https://github.com/thuml/AutoTimes.

Transformers achieve remarkable performance in several tasks but due to their quadratic complexity, with respect to the input's length, they are prohibitively slow for very long sequences. To address this limitation, we express the self-attention as a linear dot-product of kernel feature maps and make use of the associativity property of matrix products to reduce the complexity from Oleft(N^2right) to Oleft(Nright), where N is the sequence length. We show that this formulation permits an iterative implementation that dramatically accelerates autoregressive transformers and reveals their relationship to recurrent neural networks. Our linear transformers achieve similar performance to vanilla transformers and they are up to 4000x faster on autoregressive prediction of very long sequences.

Autoregressive models have achieved remarkable success across various domains, yet their performance in 3D shape generation lags significantly behind that of diffusion models. In this paper, we introduce OctGPT, a novel multiscale autoregressive model for 3D shape generation that dramatically improves the efficiency and performance of prior 3D autoregressive approaches, while rivaling or surpassing state-of-the-art diffusion models. Our method employs a serialized octree representation to efficiently capture the hierarchical and spatial structures of 3D shapes. Coarse geometry is encoded via octree structures, while fine-grained details are represented by binary tokens generated using a vector quantized variational autoencoder (VQVAE), transforming 3D shapes into compact multiscale binary sequences suitable for autoregressive prediction. To address the computational challenges of handling long sequences, we incorporate octree-based transformers enhanced with 3D rotary positional encodings, scale-specific embeddings, and token-parallel generation schemes. These innovations reduce training time by 13 folds and generation time by 69 folds, enabling the efficient training of high-resolution 3D shapes, e.g.,1024^3, on just four NVIDIA 4090 GPUs only within days. OctGPT showcases exceptional versatility across various tasks, including text-, sketch-, and image-conditioned generation, as well as scene-level synthesis involving multiple objects. Extensive experiments demonstrate that OctGPT accelerates convergence and improves generation quality over prior autoregressive methods, offering a new paradigm for high-quality, scalable 3D content creation.

Autoregressive visual generation models typically rely on tokenizers to compress images into tokens that can be predicted sequentially. A fundamental dilemma exists in token representation: discrete tokens enable straightforward modeling with standard cross-entropy loss, but suffer from information loss and tokenizer training instability; continuous tokens better preserve visual details, but require complex distribution modeling, complicating the generation pipeline. In this paper, we propose TokenBridge, which bridges this gap by maintaining the strong representation capacity of continuous tokens while preserving the modeling simplicity of discrete tokens. To achieve this, we decouple discretization from the tokenizer training process through post-training quantization that directly obtains discrete tokens from continuous representations. Specifically, we introduce a dimension-wise quantization strategy that independently discretizes each feature dimension, paired with a lightweight autoregressive prediction mechanism that efficiently model the resulting large token space. Extensive experiments show that our approach achieves reconstruction and generation quality on par with continuous methods while using standard categorical prediction. This work demonstrates that bridging discrete and continuous paradigms can effectively harness the strengths of both approaches, providing a promising direction for high-quality visual generation with simple autoregressive modeling. Project page: https://yuqingwang1029.github.io/TokenBridge.

Unified generation of sequence and structure for scientific data (e.g., materials, molecules, proteins) is a critical task. Existing approaches primarily rely on either autoregressive sequence models or diffusion models, each offering distinct advantages and facing notable limitations. Autoregressive models, such as GPT, Llama, and Phi-4, have demonstrated remarkable success in natural language generation and have been extended to multimodal tasks (e.g., image, video, and audio) using advanced encoders like VQ-VAE to represent complex modalities as discrete sequences. However, their direct application to scientific domains is challenging due to the high precision requirements and the diverse nature of scientific data. On the other hand, diffusion models excel at generating high-dimensional scientific data, such as protein, molecule, and material structures, with remarkable accuracy. Yet, their inability to effectively model sequences limits their potential as general-purpose multimodal foundation models. To address these challenges, we propose UniGenX, a unified framework that combines autoregressive next-token prediction with conditional diffusion models. This integration leverages the strengths of autoregressive models to ease the training of conditional diffusion models, while diffusion-based generative heads enhance the precision of autoregressive predictions. We validate the effectiveness of UniGenX on material and small molecule generation tasks, achieving a significant leap in state-of-the-art performance for material crystal structure prediction and establishing new state-of-the-art results for small molecule structure prediction, de novo design, and conditional generation. Notably, UniGenX demonstrates significant improvements, especially in handling long sequences for complex structures, showcasing its efficacy as a versatile tool for scientific data generation.

Auto-Regressive (AR) models have recently gained prominence in image generation, often matching or even surpassing the performance of diffusion models. However, one major limitation of AR models is their sequential nature, which processes tokens one at a time, slowing down generation compared to models like GANs or diffusion-based methods that operate more efficiently. While speculative decoding has proven effective for accelerating LLMs by generating multiple tokens in a single forward, its application in visual AR models remains largely unexplored. In this work, we identify a challenge in this setting, which we term token selection ambiguity, wherein visual AR models frequently assign uniformly low probabilities to tokens, hampering the performance of speculative decoding. To overcome this challenge, we propose a relaxed acceptance condition referred to as LANTERN that leverages the interchangeability of tokens in latent space. This relaxation restores the effectiveness of speculative decoding in visual AR models by enabling more flexible use of candidate tokens that would otherwise be prematurely rejected. Furthermore, by incorporating a total variation distance bound, we ensure that these speed gains are achieved without significantly compromising image quality or semantic coherence. Experimental results demonstrate the efficacy of our method in providing a substantial speed-up over speculative decoding. In specific, compared to a na\"ive application of the state-of-the-art speculative decoding, LANTERN increases speed-ups by 1.75times and 1.76times, as compared to greedy decoding and random sampling, respectively, when applied to LlamaGen, a contemporary visual AR model.

We cast real-world humanoid control as a next token prediction problem, akin to predicting the next word in language. Our model is a causal transformer trained via autoregressive prediction of sensorimotor trajectories. To account for the multi-modal nature of the data, we perform prediction in a modality-aligned way, and for each input token predict the next token from the same modality. This general formulation enables us to leverage data with missing modalities, like video trajectories without actions. We train our model on a collection of simulated trajectories coming from prior neural network policies, model-based controllers, motion capture data, and YouTube videos of humans. We show that our model enables a full-sized humanoid to walk in San Francisco zero-shot. Our model can transfer to the real world even when trained on only 27 hours of walking data, and can generalize to commands not seen during training like walking backward. These findings suggest a promising path toward learning challenging real-world control tasks by generative modeling of sensorimotor trajectories.

We explore how to enhance next-token prediction models to perform in-context imitation learning on a real robot, where the robot executes new tasks by interpreting contextual information provided during the input phase, without updating its underlying policy parameters. We propose In-Context Robot Transformer (ICRT), a causal transformer that performs autoregressive prediction on sensorimotor trajectories without relying on any linguistic data or reward function. This formulation enables flexible and training-free execution of new tasks at test time, achieved by prompting the model with sensorimotor trajectories of the new task composing of image observations, actions and states tuples, collected through human teleoperation. Experiments with a Franka Emika robot demonstrate that the ICRT can adapt to new tasks specified by prompts, even in environment configurations that differ from both the prompt and the training data. In a multitask environment setup, ICRT significantly outperforms current state-of-the-art next-token prediction models in robotics on generalizing to unseen tasks. Code, checkpoints and data are available on https://icrt.dev/

Accurate future video prediction requires both high visual fidelity and consistent scene semantics, particularly in complex dynamic environments such as autonomous driving. We present Re2Pix, a hierarchical video prediction framework that decomposes forecasting into two stages: semantic representation prediction and representation-guided visual synthesis. Instead of directly predicting future RGB frames, our approach first forecasts future scene structure in the feature space of a frozen vision foundation model, and then conditions a latent diffusion model on these predicted representations to render photorealistic frames. This decomposition enables the model to focus first on scene dynamics and then on appearance generation. A key challenge arises from the train-test mismatch between ground-truth representations available during training and predicted ones used at inference. To address this, we introduce two conditioning strategies, nested dropout and mixed supervision, that improve robustness to imperfect autoregressive predictions. Experiments on challenging driving benchmarks demonstrate that the proposed semantics-first design significantly improves temporal semantic consistency, perceptual quality, and training efficiency compared to strong diffusion baselines. We provide the implementation code at https://github.com/Sta8is/Re2Pix

Current language models demonstrate remarkable proficiency in text generation. However, for many applications it is desirable to control attributes, such as sentiment, or toxicity, of the generated language -- ideally tailored towards each specific use case and target audience. For auto-regressive language models, existing guidance methods are prone to decoding errors that cascade during generation and degrade performance. In contrast, text diffusion models can easily be guided with, for example, a simple linear sentiment classifier -- however they do suffer from significantly higher perplexity than auto-regressive alternatives. In this paper we use a guided diffusion model to produce a latent proposal that steers an auto-regressive language model to generate text with desired properties. Our model inherits the unmatched fluency of the auto-regressive approach and the plug-and-play flexibility of diffusion. We show that it outperforms previous plug-and-play guidance methods across a wide range of benchmark data sets. Further, controlling a new attribute in our framework is reduced to training a single logistic regression classifier.

World models predict state transitions in response to actions and are increasingly developed across diverse modalities. However, standard training objectives such as maximum likelihood estimation (MLE) often misalign with task-specific goals of world models, i.e., transition prediction metrics like accuracy or perceptual quality. In this paper, we present RLVR-World, a unified framework that leverages reinforcement learning with verifiable rewards (RLVR) to directly optimize world models for such metrics. Despite formulating world modeling as autoregressive prediction of tokenized sequences, RLVR-World evaluates metrics of decoded predictions as verifiable rewards. We demonstrate substantial performance gains on both language- and video-based world models across domains, including text games, web navigation, and robot manipulation. Our work indicates that, beyond recent advances in reasoning language models, RLVR offers a promising post-training paradigm for enhancing the utility of generative models more broadly.

With recent advances in embodied agents and AR devices, egocentric observations are readily available as input for real-world interactive online applications. However, egocentric viewpoints can only sporadically observe hands, in addition to the estimated head trajectory. We propose EgoForce, an online framework for reconstructing long-term full-body motion from noisy egocentric input. While existing generative frameworks can robustly handle noisy and sparse measurements, they assume a fixed-length observation window is available and are thus not suitable for real-time applications. Faster inference often relies on autoregressive prediction, sacrificing robustness. In contrast, we adopt a diffusion-based method with a temporally asymmetric noise schedule inspired by Diffusion Forcing. Specifically, our approach models temporally evolving uncertainty and incrementally denoises states as new streaming observations arrive. Combined with a noise-robust imputation strategy, EgoForce progressively generates stable and coherent full-body motion under strict causal constraints. Experiments demonstrate that our online framework outperforms existing online and offline methods, enabling long-horizon, full-body motion reconstruction in challenging egocentric scenarios.

One of the predominant methods for training world models is autoregressive prediction in the output space of the next element of a sequence. In Natural Language Processing (NLP), this takes the form of Large Language Models (LLMs) predicting the next token; in Computer Vision (CV), this takes the form of autoregressive models predicting the next frame/token/pixel. However, this approach differs from human cognition in several respects. First, human predictions about the future actively influence internal cognitive processes. Second, humans naturally evaluate the plausibility of predictions regarding future states. Based on this capability, and third, by assessing when predictions are sufficient, humans allocate a dynamic amount of time to make a prediction. This adaptive process is analogous to System 2 thinking in psychology. All these capabilities are fundamental to the success of humans at high-level reasoning and planning. Therefore, to address the limitations of traditional autoregressive models lacking these human-like capabilities, we introduce Energy-Based World Models (EBWM). EBWM involves training an Energy-Based Model (EBM) to predict the compatibility of a given context and a predicted future state. In doing so, EBWM enables models to achieve all three facets of human cognition described. Moreover, we developed a variant of the traditional autoregressive transformer tailored for Energy-Based models, termed the Energy-Based Transformer (EBT). Our results demonstrate that EBWM scales better with data and GPU Hours than traditional autoregressive transformers in CV, and that EBWM offers promising early scaling in NLP. Consequently, this approach offers an exciting path toward training future models capable of System 2 thinking and intelligently searching across state spaces.

Real-time 3D hand forecasting is a critical component for fluid human-computer interaction in applications like AR and assistive robotics. However, existing methods are ill-suited for these scenarios, as they typically require offline access to accumulated video sequences and cannot incorporate language guidance that conveys task intent. To overcome these limitations, we introduce SFHand, the first streaming framework for language-guided 3D hand forecasting. SFHand autoregressively predicts a comprehensive set of future 3D hand states, including hand type, 2D bounding box, 3D pose, and trajectory, from a continuous stream of video and language instructions. Our framework combines a streaming autoregressive architecture with an ROI-enhanced memory layer, capturing temporal context while focusing on salient hand-centric regions. To enable this research, we also introduce EgoHaFL, the first large-scale dataset featuring synchronized 3D hand poses and language instructions. We demonstrate that SFHand achieves new state-of-the-art results in 3D hand forecasting, outperforming prior work by a significant margin of up to 35.8%. Furthermore, we show the practical utility of our learned representations by transferring them to downstream embodied manipulation tasks, improving task success rates by up to 13.4% on multiple benchmarks. Dataset page: https://huggingface.co/datasets/ut-vision/EgoHaFL, project page: https://github.com/ut-vision/SFHand.

We introduce a self-supervised speech pre-training method called TERA, which stands for Transformer Encoder Representations from Alteration. Recent approaches often learn by using a single auxiliary task like contrastive prediction, autoregressive prediction, or masked reconstruction. Unlike previous methods, we use alteration along three orthogonal axes to pre-train Transformer Encoders on a large amount of unlabeled speech. The model learns through the reconstruction of acoustic frames from their altered counterpart, where we use a stochastic policy to alter along various dimensions: time, frequency, and magnitude. TERA can be used for speech representations extraction or fine-tuning with downstream models. We evaluate TERA on several downstream tasks, including phoneme classification, keyword spotting, speaker recognition, and speech recognition. We present a large-scale comparison of various self-supervised models. TERA achieves strong performance in the comparison by improving upon surface features and outperforming previous models. In our experiments, we study the effect of applying different alteration techniques, pre-training on more data, and pre-training on various features. We analyze different model sizes and find that smaller models are strong representation learners than larger models, while larger models are more effective for downstream fine-tuning than smaller models. Furthermore, we show the proposed method is transferable to downstream datasets not used in pre-training.

The multimodal language models (MLMs) based on generative pre-trained Transformer are considered powerful candidates for unifying various domains and tasks. MLMs developed for remote sensing (RS) have demonstrated outstanding performance in multiple tasks, such as visual question answering and visual grounding. In addition to visual grounding that detects specific objects corresponded to given instruction, aerial detection, which detects all objects of multiple categories, is also a valuable and challenging task for RS foundation models. However, aerial detection has not been explored by existing RS MLMs because the autoregressive prediction mechanism of MLMs differs significantly from the detection outputs. In this paper, we present a simple baseline for applying MLMs to aerial detection for the first time, named LMMRotate. Specifically, we first introduce a normalization method to transform detection outputs into textual outputs to be compatible with the MLM framework. Then, we propose a evaluation method, which ensures a fair comparison between MLMs and conventional object detection models. We construct the baseline by fine-tuning open-source general-purpose MLMs and achieve impressive detection performance comparable to conventional detector. We hope that this baseline will serve as a reference for future MLM development, enabling more comprehensive capabilities for understanding RS images. Code is available at https://github.com/Li-Qingyun/mllm-mmrotate.

We introduce BCAT, a PDE foundation model designed for autoregressive prediction of solutions to two dimensional fluid dynamics problems. Our approach uses a block causal transformer architecture to model next frame predictions, leveraging previous frames as contextual priors rather than relying solely on sub-frames or pixel-based inputs commonly used in image generation methods. This block causal framework more effectively captures the spatial dependencies inherent in nonlinear spatiotemporal dynamics and physical phenomena. In an ablation study, next frame prediction demonstrated a 3.5x accuracy improvement over next token prediction. BCAT is trained on a diverse range of fluid dynamics datasets, including incompressible and compressible Navier-Stokes equations across various geometries and parameter regimes, as well as the shallow-water equations. The model's performance was evaluated on 6 distinct downstream prediction tasks and tested on about 8K trajectories to measure robustness on a variety of fluid dynamics simulations. BCAT achieved an average relative error of 1.18% across all evaluation tasks, outperforming prior approaches on standard benchmarks. With fine-tuning on a turbulence dataset, we show that the method adapts to new settings with more than 40% better accuracy over prior methods.

Modeling human mobility is vital for extensive applications such as transportation planning and epidemic modeling. With the rise of the Artificial Intelligence Generated Content (AIGC) paradigm, recent works explore synthetic trajectory generation using autoregressive and diffusion models. While these methods show promise for generating single-day trajectories, they remain limited by inefficiencies in long-term generation (e.g., weekly trajectories) and a lack of explicit spatiotemporal multi-scale modeling. This study proposes Multi-Scale Spatio-Temporal AutoRegression (M-STAR), a new framework that generates long-term trajectories through a coarse-to-fine spatiotemporal prediction process. M-STAR combines a Multi-scale Spatiotemporal Tokenizer that encodes hierarchical mobility patterns with a Transformer-based decoder for next-scale autoregressive prediction. Experiments on two real-world datasets show that M-STAR outperforms existing methods in fidelity and significantly improves generation speed. The data and codes are available at https://github.com/YuxiaoLuo0013/M-STAR.

Recent advancements in large language models and their multi-modal extensions have demonstrated the effectiveness of unifying generation and understanding through autoregressive next-token prediction. However, despite the critical role of 3D structural generation and understanding ({3D GU}) in AI for science, these tasks have largely evolved independently, with autoregressive methods remaining underexplored. To bridge this gap, we introduce Uni-3DAR, a unified framework that seamlessly integrates {3D GU} tasks via autoregressive prediction. At its core, Uni-3DAR employs a novel hierarchical tokenization that compresses 3D space using an octree, leveraging the inherent sparsity of 3D structures. It then applies an additional tokenization for fine-grained structural details, capturing key attributes such as atom types and precise spatial coordinates in microscopic 3D structures. We further propose two optimizations to enhance efficiency and effectiveness. The first is a two-level subtree compression strategy, which reduces the octree token sequence by up to 8x. The second is a masked next-token prediction mechanism tailored for dynamically varying token positions, significantly boosting model performance. By combining these strategies, Uni-3DAR successfully unifies diverse {3D GU} tasks within a single autoregressive framework. Extensive experiments across multiple microscopic {3D GU} tasks, including molecules, proteins, polymers, and crystals, validate its effectiveness and versatility. Notably, Uni-3DAR surpasses previous state-of-the-art diffusion models by a substantial margin, achieving up to 256\% relative improvement while delivering inference speeds up to 21.8x faster. The code is publicly available at https://github.com/dptech-corp/Uni-3DAR.

Neural audio codecs are widely used as tokenizers for spoken language models, but they are optimized for waveform reconstruction rather than autoregressive prediction. This mismatch injects acoustically driven uncertainty into the discrete token space and increases language-model perplexity. We propose \ours, which augments codec training with language-model-facing objectives while keeping both codec and LLM architectures unchanged. \ours introduces (i) future token prediction with Medusa-style multi-step heads to encourage multi-step predictability, and (ii) semantic alignment that matches audio and text representations via a memory-bank contrastive loss. A differentiable Gumbel bridge enables end-to-end gradients from these objectives to the codec encoder. On SALMon speech coherence, token LMs trained on \ours reach 61.6% accuracy (+12.1 points over AUV) while reducing perplexity 35. On Codec-SUPERB-tiny, \ours improves speech Mel distance by 5.0% over AUV while simultaneously achieving the learnability gains, demonstrating that reconstruction fidelity and token predictability can be improved together.

Offline Reinforcement Learning (RL) has emerged as a powerful alternative to imitation learning for behavior modeling in various domains, particularly in complex navigation tasks. An existing challenge with Offline RL is the signal-to-noise ratio, i.e. how to mitigate incorrect policy updates due to errors in value estimates. Towards this, multiple works have demonstrated the advantage of hierarchical offline RL methods, which decouples high-level path planning from low-level path following. In this work, we present a novel hierarchical transformer-based approach leveraging a learned quantizer of the space. This quantization enables the training of a simpler zone-conditioned low-level policy and simplifies planning, which is reduced to discrete autoregressive prediction. Among other benefits, zone-level reasoning in planning enables explicit trajectory stitching rather than implicit stitching based on noisy value function estimates. By combining this transformer-based planner with recent advancements in offline RL, our proposed approach achieves state-of-the-art results in complex long-distance navigation environments.

We present SEED, an elaborate image tokenizer that empowers Large Language Models (LLMs) with the emergent ability to SEE and Draw at the same time. Research on image tokenizers has previously reached an impasse, as frameworks employing quantized visual tokens have lost prominence due to subpar performance and convergence in multimodal comprehension (compared to BLIP-2, etc.) or generation (compared to Stable Diffusion, etc.). Despite the limitations, we remain confident in its natural capacity to unify visual and textual representations, facilitating scalable multimodal training with LLM's original recipe. In this study, we identify two crucial principles for the architecture and training of SEED that effectively ease subsequent alignment with LLMs. (1) Image tokens should be independent of 2D physical patch positions and instead be produced with a 1D causal dependency, exhibiting intrinsic interdependence that aligns with the left-to-right autoregressive prediction mechanism in LLMs. (2) Image tokens should capture high-level semantics consistent with the degree of semantic abstraction in words, and be optimized for both discriminativeness and reconstruction during the tokenizer training phase. As a result, the off-the-shelf LLM is able to perform both image-to-text and text-to-image generation by incorporating our SEED through efficient LoRA tuning. Comprehensive multimodal pretraining and instruction tuning, which may yield improved results, are reserved for future investigation. This version of SEED was trained in 5.7 days using only 64 V100 GPUs and 5M publicly available image-text pairs. Our preliminary study emphasizes the great potential of discrete visual tokens in versatile multimodal LLMs and the importance of proper image tokenizers in broader research.

We present RALL-E, a robust language modeling method for text-to-speech (TTS) synthesis. While previous work based on large language models (LLMs) shows impressive performance on zero-shot TTS, such methods often suffer from poor robustness, such as unstable prosody (weird pitch and rhythm/duration) and a high word error rate (WER), due to the autoregressive prediction style of language models. The core idea behind RALL-E is chain-of-thought (CoT) prompting, which decomposes the task into simpler steps to enhance the robustness of LLM-based TTS. To accomplish this idea, RALL-E first predicts prosody features (pitch and duration) of the input text and uses them as intermediate conditions to predict speech tokens in a CoT style. Second, RALL-E utilizes the predicted duration prompt to guide the computing of self-attention weights in Transformer to enforce the model to focus on the corresponding phonemes and prosody features when predicting speech tokens. Results of comprehensive objective and subjective evaluations demonstrate that, compared to a powerful baseline method VALL-E, RALL-E significantly improves the WER of zero-shot TTS from 6.3% (without reranking) and 2.1% (with reranking) to 2.8% and 1.0%, respectively. Furthermore, we demonstrate that RALL-E correctly synthesizes sentences that are hard for VALL-E and reduces the error rate from 68% to 4%.

The great success of Large Language Models (LLMs) has expanded the potential of multimodality, contributing to the gradual evolution of General Artificial Intelligence (AGI). A true AGI agent should not only possess the capability to perform predefined multi-tasks but also exhibit emergent abilities in an open-world context. However, despite the considerable advancements made by recent multimodal LLMs, they still fall short in effectively unifying comprehension and generation tasks, let alone open-world emergent abilities. We contend that the key to overcoming the present impasse lies in enabling text and images to be represented and processed interchangeably within a unified autoregressive Transformer. To this end, we introduce SEED, an elaborate image tokenizer that empowers LLMs with the ability to SEE and Draw at the same time. We identify two crucial design principles: (1) Image tokens should be independent of 2D physical patch positions and instead be produced with a 1D causal dependency, exhibiting intrinsic interdependence that aligns with the left-to-right autoregressive prediction mechanism in LLMs. (2) Image tokens should capture high-level semantics consistent with the degree of semantic abstraction in words, and be optimized for both discriminativeness and reconstruction during the tokenizer training phase. With SEED tokens, LLM is able to perform scalable multimodal autoregression under its original training recipe, i.e., next-word prediction. SEED-LLaMA is therefore produced by large-scale pretraining and instruction tuning on the interleaved textual and visual data, demonstrating impressive performance on a broad range of multimodal comprehension and generation tasks. More importantly, SEED-LLaMA has exhibited compositional emergent abilities such as multi-turn in-context multimodal generation, acting like your AI assistant.

Mobile manipulation is a key capability for general-purpose robots, yet remains challenging for current embodied learning methods. VLA policies are typically reactive and lack explicit world modeling, while existing World Action Models (WAMs) are still poorly aligned with the structure of mobile manipulation: they operate on coarse video chunks, model entangled navigation-manipulation actions, and train inverse dynamics under supervision that does not match autoregressive inference. As a result, they often miss fine-grained contact dynamics, suffer from action-distribution conflicts, and accumulate errors over long-horizon rollouts. We propose ABot-M0.5, a new WAM built on the insight that mobile manipulation requires alignment at three levels: temporal granularity, action space, and train-test consistency. To align temporal granularity, we introduce intermediate latent actions that capture local visual state transitions and serve as an bridging action space between video latents and embodiment-specific controls. To align action space, we design a dual-level Mixture-of-Transformers architecture that disentangles both modality representations and heterogeneous action subspaces such as base movement and arm manipulation. To align inference conditions, we propose the dream-forcing training strategy that progressively trains inverse dynamics on model-predicted videos, improving train-test alignment and robustness during autoregressive prediction. Experiments on challenging mobile and fine-grained manipulation benchmarks demonstrate that ABot-M0.5 achieves state-of-the-art performance in both long-horizon task success and finegrained control accuracy. These results highlight the critical importance of granularity-aligned, action-disentangled, and inference-consistent world-action modeling.

Auto-Regressive (AR) models have achieved impressive results in 2D image generation by modeling joint distributions in the grid space. While this approach has been extended to the 3D domain for powerful shape generation, it still has two limitations: expensive computations on volumetric grids and ambiguous auto-regressive order along grid dimensions. To overcome these limitations, we propose the Improved Auto-regressive Model (ImAM) for 3D shape generation, which applies discrete representation learning based on a latent vector instead of volumetric grids. Our approach not only reduces computational costs but also preserves essential geometric details by learning the joint distribution in a more tractable order. Moreover, thanks to the simplicity of our model architecture, we can naturally extend it from unconditional to conditional generation by concatenating various conditioning inputs, such as point clouds, categories, images, and texts. Extensive experiments demonstrate that ImAM can synthesize diverse and faithful shapes of multiple categories, achieving state-of-the-art performance.

We present TraDE, a self-attention-based architecture for auto-regressive density estimation with continuous and discrete valued data. Our model is trained using a penalized maximum likelihood objective, which ensures that samples from the density estimate resemble the training data distribution. The use of self-attention means that the model need not retain conditional sufficient statistics during the auto-regressive process beyond what is needed for each covariate. On standard tabular and image data benchmarks, TraDE produces significantly better density estimates than existing approaches such as normalizing flow estimators and recurrent auto-regressive models. However log-likelihood on held-out data only partially reflects how useful these estimates are in real-world applications. In order to systematically evaluate density estimators, we present a suite of tasks such as regression using generated samples, out-of-distribution detection, and robustness to noise in the training data and demonstrate that TraDE works well in these scenarios.

A photorealistic and immersive human avatar experience demands capturing fine, person-specific details such as cloth and hair dynamics, subtle facial expressions, and characteristic motion patterns. Achieving this requires large, high-quality datasets, which often introduce ambiguities and spurious correlations when very similar poses correspond to different appearances. Models that fit these details during training can overfit and produce unstable, abrupt appearance changes for novel poses. We propose a 3D Gaussian Splatting avatar model with a spatial MLP backbone that is conditioned on both pose and an appearance latent. The latent is learned during training by an encoder, yielding a compact representation that improves reconstruction quality and helps disambiguate pose-driven renderings. At driving time, our predictor autoregressively infers the latent, producing temporally smooth appearance evolution and improved stability. Overall, our method delivers a robust and practical path to high-fidelity, stable avatar driving.

Recent years have seen a paradigm shift in NLP towards using pretrained language models ({PLM}) for a wide range of tasks. However, there are many difficult design decisions to represent structures (e.g. tagged text, coreference chains) in a way such that they can be captured by PLMs. Prior work on structured prediction with PLMs typically flattens the structured output into a sequence, which limits the quality of structural information being learned and leads to inferior performance compared to classic discriminative models. In this work, we describe an approach to model structures as sequences of actions in an autoregressive manner with PLMs, allowing in-structure dependencies to be learned without any loss. Our approach achieves the new state-of-the-art on all the structured prediction tasks we looked at, namely, named entity recognition, end-to-end relation extraction, and coreference resolution.

Recent advances in pretraining general foundation models have significantly improved performance across diverse downstream tasks. While autoregressive (AR) generative models like GPT have revolutionized NLP, most visual generative pretraining methods still rely on BERT-style masked modeling, which often disregards the temporal information essential for video analysis. The few existing autoregressive visual pretraining methods suffer from issues such as inaccurate semantic localization and poor generation quality, leading to poor semantics. In this work, we propose NExT-Vid, a novel autoregressive visual generative pretraining framework that utilizes masked next-frame prediction to jointly model images and videos. NExT-Vid introduces a context-isolated autoregressive predictor to decouple semantic representation from target decoding, and a conditioned flow-matching decoder to enhance generation quality and diversity. Through context-isolated flow-matching pretraining, our approach achieves strong representations. Extensive experiments on large-scale pretrained models demonstrate that our proposed method consistently outperforms previous generative pretraining methods for visual representation learning via attentive probing in downstream classification.

Understanding human visual attention on a scene over time has applications in domains such as interface design and inferring cognitive states. Modeling visual scanpaths has historically relied on specialized architectures with hand-crafted priors. While these architectures can model fixation sequences, their rigid structural biases restrict easy extendability and flexible conditioning. For instance, integrating task-specific instructions or adapting to distinct viewer identities requires custom, disjoint architectural additions. We frame scanpath prediction purely as a discrete sequence modeling task. By mapping coordinates into a text vocabulary, we leverage the pretrained representations of Vision-Language Models. This framing absorbs diverse factors of variation: simple prompting allows for global conditioning, such as providing viewer identities to capture personalized biases, or task-specific objectives like visual search. The framework can also integrate per-fixation attributes, such as individual fixation durations, alongside spatial locations. The autoregressive alignment enables the scalable, exact computation of per-fixation log-likelihoods, directly equivalent to the commonly used Information Gain (IG) metric. Our model, DeepGaze3.5-VL, establishes a new state-of-the-art across multiple datasets, achieving 2.18 bits of IG on MIT1003, a 46% improvement over DeepGaze III. This advantage persists even when baselines use identical high-capacity vision encoders. Beyond predictive performance, our generative framework serves as a powerful computational tool for direct behavioral interventions, allowing for controlled in-silico simulations that would be experimentally difficult or impossible to conduct in vivo. We demonstrate this ability by performing controlled interventions on the durations of pre-saccadic fixations, recovering known oculomotor phenomena purely from data.

MLLM-based segmentation faces a core segmentation trilemma: high segmentation performance, preserved dialogue ability, and fast inference. Embedding-prediction methods may disrupt language modeling through pixel-level objectives, whereas next-token generation is inefficient for dense masks. We propose All-Mask Prediction, decoupling autoregressive dialogue from non-autoregressive mask prediction. Its binary instantiation, STAMP (Simultaneous Textual All-Mask Prediction), emits an in-vocabulary <SEG> trigger, fuses image-aligned mask tokens with corresponding patch features, and uses hybrid attention to classify all tokens as foreground or background in one pass. It thereby combines strong referring and reasoning segmentation with preserved multimodal ability and efficient inference. However, binary masks cannot retain multiple semantic or instance identities without repeated target-specific predictions. We therefore propose Structured All-Mask Prediction and develop STAMPlus. It generates a target list with explicit IDs and optional boxes, binds these IDs to a shared multi-class mask space, and jointly predicts all targets in one non-autoregressive pass. A single unified checkpoint retains STAMP's referring and reasoning capabilities while extending to open-vocabulary semantic, instance-aware, and remote-sensing small-target segmentation, where high-resolution mask-token scaling preserves finer spatial evidence. Across these settings, STAMPlus achieves state-of-the-art segmentation performance, preserves general multimodal instruction following, and reduces 12-category latency from 13.50s for repeated STAMP inference to 5.16s. Further analyses show that accurate target cues improve segmentation and learned spatial grounding benefits look-twice reasoning. Overall, STAMPlus resolves the trilemma beyond single-target prediction.

Can a mere next-token predictor faithfully model human intelligence? We crystallize this intuitive concern, which is fragmented in the literature. As a starting point, we argue that the two often-conflated phases of next-token prediction -- autoregressive inference and teacher-forced training -- must be treated distinctly. The popular criticism that errors can compound during autoregressive inference, crucially assumes that teacher-forcing has learned an accurate next-token predictor. This assumption sidesteps a more deep-rooted problem we expose: in certain classes of tasks, teacher-forcing can simply fail to learn an accurate next-token predictor in the first place. We describe a general mechanism of how teacher-forcing can fail, and design a minimal planning task where both the Transformer and the Mamba architecture empirically fail in that manner -- remarkably, despite the task being straightforward to learn. We provide preliminary evidence that this failure can be resolved when training to predict multiple tokens in advance. We hope this finding can ground future debates and inspire explorations beyond the next-token prediction paradigm. We make our code available under https://github.com/gregorbachmann/Next-Token-Failures

Integrating segmentation into Multimodal Large Language Models (MLLMs) presents a core trilemma: simultaneously preserving dialogue ability, achieving high segmentation performance, and ensuring fast inference. Prevailing paradigms are forced into a compromise. Embedding prediction methods introduce a conflicting pixel-level objective that degrades the MLLM's general dialogue abilities. The alternative, next-token prediction, reframes segmentation as an autoregressive task, which preserves dialogue but forces a trade-off between poor segmentation performance with sparse outputs or prohibitive inference speeds with rich ones. We resolve this trilemma with all-mask prediction, a novel paradigm that decouples autoregressive dialogue generation from non-autoregressive mask prediction. We present STAMP: Simultaneous Textual All-Mask Prediction, an MLLM that embodies this paradigm. After generating a textual response, STAMP predicts an entire segmentation mask in a single forward pass by treating it as a parallel "fill-in-the-blank" task over image patches. This design maintains the MLLM's dialogue ability by avoiding conflicting objectives, enables high segmentation performance by leveraging rich, bidirectional spatial context for all mask tokens, and achieves exceptional speed. Extensive experiments show that STAMP significantly outperforms state-of-the-art methods across multiple segmentation benchmarks, providing a solution that excels in dialogue, segmentation, and speed without compromise.

Recently video generation has achieved substantial progress with realistic results. Nevertheless, existing AI-generated videos are usually very short clips ("shot-level") depicting a single scene. To deliver a coherent long video ("story-level"), it is desirable to have creative transition and prediction effects across different clips. This paper presents a short-to-long video diffusion model, SEINE, that focuses on generative transition and prediction. The goal is to generate high-quality long videos with smooth and creative transitions between scenes and varying lengths of shot-level videos. Specifically, we propose a random-mask video diffusion model to automatically generate transitions based on textual descriptions. By providing the images of different scenes as inputs, combined with text-based control, our model generates transition videos that ensure coherence and visual quality. Furthermore, the model can be readily extended to various tasks such as image-to-video animation and autoregressive video prediction. To conduct a comprehensive evaluation of this new generative task, we propose three assessing criteria for smooth and creative transition: temporal consistency, semantic similarity, and video-text semantic alignment. Extensive experiments validate the effectiveness of our approach over existing methods for generative transition and prediction, enabling the creation of story-level long videos. Project page: https://vchitect.github.io/SEINE-project/ .

LLMs have revolutionized the field of artificial intelligence and have emerged as the de-facto tool for many tasks. The current established technology of LLMs is to process input and generate output at the token level. This is in sharp contrast to humans who operate at multiple levels of abstraction, well beyond single words, to analyze information and to generate creative content. In this paper, we present an attempt at an architecture which operates on an explicit higher-level semantic representation, which we name a concept. Concepts are language- and modality-agnostic and represent a higher level idea or action in a flow. Hence, we build a "Large Concept Model". In this study, as proof of feasibility, we assume that a concept corresponds to a sentence, and use an existing sentence embedding space, SONAR, which supports up to 200 languages in both text and speech modalities. The Large Concept Model is trained to perform autoregressive sentence prediction in an embedding space. We explore multiple approaches, namely MSE regression, variants of diffusion-based generation, and models operating in a quantized SONAR space. These explorations are performed using 1.6B parameter models and training data in the order of 1.3T tokens. We then scale one architecture to a model size of 7B parameters and training data of about 2.7T tokens. We perform an experimental evaluation on several generative tasks, namely summarization and a new task of summary expansion. Finally, we show that our model exhibits impressive zero-shot generalization performance to many languages, outperforming existing LLMs of the same size. The training code of our models is freely available.

Current speech generation research can be categorized into two primary classes: non-autoregressive and autoregressive. The fundamental distinction between these approaches lies in the duration prediction strategy employed for predictable-length sequences. The NAR methods ensure stability in speech generation by explicitly and independently modeling the duration of each phonetic unit. Conversely, AR methods employ an autoregressive paradigm to predict the compressed speech token by implicitly modeling duration with Markov properties. Although this approach improves prosody, it does not provide the structural guarantees necessary for stability. To simultaneously address the issues of stability and naturalness in speech generation, we propose FlexSpeech, a stable, controllable, and expressive TTS model. The motivation behind FlexSpeech is to incorporate Markov dependencies and preference optimization directly on the duration predictor to boost its naturalness while maintaining explicit modeling of the phonetic units to ensure stability. Specifically, we decompose the speech generation task into two components: an AR duration predictor and a NAR acoustic model. The acoustic model is trained on a substantial amount of data to learn to render audio more stably, given reference audio prosody and phone durations. The duration predictor is optimized in a lightweight manner for different stylistic variations, thereby enabling rapid style transfer while maintaining a decoupled relationship with the specified speaker timbre. Experimental results demonstrate that our approach achieves SOTA stability and naturalness in zero-shot TTS. More importantly, when transferring to a specific stylistic domain, we can accomplish lightweight optimization of the duration module solely with about 100 data samples, without the need to adjust the acoustic model, thereby enabling rapid and stable style transfer.

Video diffusion models have recently shown promise for world modeling through autoregressive frame prediction conditioned on actions. However, they struggle to maintain long-term memory due to the high computational cost associated with processing extended sequences in attention layers. To overcome this limitation, we propose a novel architecture leveraging state-space models (SSMs) to extend temporal memory without compromising computational efficiency. Unlike previous approaches that retrofit SSMs for non-causal vision tasks, our method fully exploits the inherent advantages of SSMs in causal sequence modeling. Central to our design is a block-wise SSM scanning scheme, which strategically trades off spatial consistency for extended temporal memory, combined with dense local attention to ensure coherence between consecutive frames. We evaluate the long-term memory capabilities of our model through spatial retrieval and reasoning tasks over extended horizons. Experiments on Memory Maze and Minecraft datasets demonstrate that our approach surpasses baselines in preserving long-range memory, while maintaining practical inference speeds suitable for interactive applications.

Manipulation of elastoplastic objects like dough often involves topological changes such as splitting and merging. The ability to accurately predict these topological changes that a specific action might incur is critical for planning interactions with elastoplastic objects. We present DoughNet, a Transformer-based architecture for handling these challenges, consisting of two components. First, a denoising autoencoder represents deformable objects of varying topology as sets of latent codes. Second, a visual predictive model performs autoregressive set prediction to determine long-horizon geometrical deformation and topological changes purely in latent space. Given a partial initial state and desired manipulation trajectories, it infers all resulting object geometries and topologies at each step. DoughNet thereby allows to plan robotic manipulation; selecting a suited tool, its pose and opening width to recreate robot- or human-made goals. Our experiments in simulated and real environments show that DoughNet is able to significantly outperform related approaches that consider deformation only as geometrical change.

Generalist robot policies exhibit strong capabilities, but their robustness in complex and unseen environments remains limited. Scaling robot learning and evaluation in diverse real-world environments remains costly and challenging. Action-conditioned world models offer a promising alternative, but they often suffer from limited action controllability and poor generalization to out-of-distribution (OOD) scenarios. To this end, we present GeniWorld, an interactive world model for robots that generalizes robustly across unseen scenarios. Building on pretrained video generative models, we use URDF-based rendering to transform numerical actions into visual action representations, enabling spatially grounded action control. By explicitly decoupling embodiment kinematics from environmental dynamics, our model mitigates scene overfitting and facilitates modeling of robot-environment interactions. To achieve closed-loop control, we construct an autoregressive video prediction model integrated with high-frequency robot kinematic control, enabling interaction with both robot policies and human teleoperators. In our experiments, even when trained solely on limited fixed-scene data, our model achieves superior in-domain performance and robust zero-shot generalization to highly randomized, unseen environments. For downstream applications, GeniWorld serves as a scalable policy evaluator that remains reliable under environmental perturbations. Furthermore, even with limited real-world demonstrations, GeniWorld generates diverse manipulation trajectories within the world model, improving downstream policy performance and robustness in complex environments.

Language plays a vital role in the realm of human motion. Existing methods have largely depended on CLIP text embeddings for motion generation, yet they fall short in effectively aligning language and motion due to CLIP's pretraining on static image-text pairs. This work introduces LaMP, a novel Language-Motion Pretraining model, which transitions from a language-vision to a more suitable language-motion latent space. It addresses key limitations by generating motion-informative text embeddings, significantly enhancing the relevance and semantics of generated motion sequences. With LaMP, we advance three key tasks: text-to-motion generation, motion-text retrieval, and motion captioning through aligned language-motion representation learning. For generation, we utilize LaMP to provide the text condition instead of CLIP, and an autoregressive masked prediction is designed to achieve mask modeling without rank collapse in transformers. For retrieval, motion features from LaMP's motion transformer interact with query tokens to retrieve text features from the text transformer, and vice versa. For captioning, we finetune a large language model with the language-informative motion features to develop a strong motion captioning model. In addition, we introduce the LaMP-BertScore metric to assess the alignment of generated motions with textual descriptions. Extensive experimental results on multiple datasets demonstrate substantial improvements over previous methods across all three tasks. The code of our method will be made public.

Recent advancements in audio language models have underscored the pivotal role of audio tokenization, which converts audio signals into discrete tokens, thereby facilitating the application of language model architectures to the audio domain. In this study, we introduce ALMTokenizer, a novel low-bitrate and semantically rich audio codec tokenizer for audio language models. Prior methods, such as Encodec, typically encode individual audio frames into discrete tokens without considering the use of context information across frames. Unlike these methods, we introduce a novel query-based compression strategy to capture holistic information with a set of learnable query tokens by explicitly modeling the context information across frames. This design not only enables the codec model to capture more semantic information but also encodes the audio signal with fewer token sequences. Additionally, to enhance the semantic information in audio codec models, we introduce the following: (1) A masked autoencoder (MAE) loss, (2) Vector quantization based on semantic priors, and (3) An autoregressive (AR) prediction loss. As a result, ALMTokenizer achieves competitive reconstruction performance relative to state-of-the-art approaches while operating at a lower bitrate. Within the same audio language model framework, ALMTokenizer outperforms previous tokenizers in audio understanding and generation tasks.

Motion forecasting is central to visual intelligence: agents must anticipate how objects will move in order to plan actions, reason about physical interactions, and synthesize realistic futures. We argue that 3D points in world coordinates provide a general representation that is class-agnostic, view-stable, compact, and directly useful for downstream tasks. We formalize the task of goal-conditioned 3D point motion forecasting: given a short visual history, a set of 3D query points on an object of interest, and a language description of the intended goal, the model predicts the future 3D trajectory of each point. We introduce a full stack to study this task at scale: (1) MolmoMotion-1M is a large corpus of action-described, object-grounded 3D point trajectories annotated from 1.16M unconstrained videos; (2) PointMotionBench is a human-verified benchmark spanning 111 object categories and 61 motion types; and (3) MolmoMotion is a general motion forecasting model that supports both autoregressive coordinate prediction and flow-matching-based trajectory generation. MolmoMotion accurately predicts diverse motion patterns with different language instructions, and significantly outperforms existing motion prediction baselines on PointMotionBench. Finally, we show that the learned 3D motion prior transfers well to downstream applications: it improves training efficiency and generalization for robot manipulation, and its predicted trajectories provide effective motion guidance for generative models to synthesize videos with more realistic object motion.

Feedforward neural networks are widely used as universal predictive models to fit data distribution. Common gradient-based learning, however, suffers from many drawbacks making the training process ineffective and time-consuming. Alternative randomized learning does not use gradients but selects hidden node parameters randomly. This makes the training process extremely fast. However, the problem in randomized learning is how to determine the random parameters. A recently proposed method uses autoencoders for unsupervised parameter learning. This method showed superior performance on classification tasks. In this work, we apply this method to regression problems, and, finding that it has some drawbacks, we show how to improve it. We propose a learning method of autoencoders that controls the produced random weights. We also propose how to determine the biases of hidden nodes. We empirically compare autoencoder based learning with other randomized learning methods proposed recently for regression and find that despite the proposed improvement of the autoencoder based learning, it does not outperform its competitors in fitting accuracy. Moreover, the method is much more complex than its competitors.

Autoregressive models, built based on the Next Token Prediction (NTP) paradigm, show great potential in developing a unified framework that integrates both language and vision tasks. In this work, we rethink the NTP for autoregressive image generation and propose a novel Next Patch Prediction (NPP) paradigm. Our key idea is to group and aggregate image tokens into patch tokens containing high information density. With patch tokens as a shorter input sequence, the autoregressive model is trained to predict the next patch, thereby significantly reducing the computational cost. We further propose a multi-scale coarse-to-fine patch grouping strategy that exploits the natural hierarchical property of image data. Experiments on a diverse range of models (100M-1.4B parameters) demonstrate that the next patch prediction paradigm could reduce the training cost to around 0.6 times while improving image generation quality by up to 1.0 FID score on the ImageNet benchmark. We highlight that our method retains the original autoregressive model architecture without introducing additional trainable parameters or specifically designing a custom image tokenizer, thus ensuring flexibility and seamless adaptation to various autoregressive models for visual generation.

Autoregressive next-token prediction is a standard pretraining method for large-scale language models, but its application to vision tasks is hindered by the non-sequential nature of image data, leading to cumulative errors. Most vision models employ masked autoencoder (MAE) based pretraining, which faces scalability issues. To address these challenges, we introduce TokenUnify, a novel pretraining method that integrates random token prediction, next-token prediction, and next-all token prediction. We provide theoretical evidence demonstrating that TokenUnify mitigates cumulative errors in visual autoregression. Cooperated with TokenUnify, we have assembled a large-scale electron microscopy (EM) image dataset with ultra-high resolution, ideal for creating spatially correlated long sequences. This dataset includes over 120 million annotated voxels, making it the largest neuron segmentation dataset to date and providing a unified benchmark for experimental validation. Leveraging the Mamba network inherently suited for long-sequence modeling on this dataset, TokenUnify not only reduces the computational complexity but also leads to a significant 45\% improvement in segmentation performance on downstream EM neuron segmentation tasks compared to existing methods. Furthermore, TokenUnify demonstrates superior scalability over MAE and traditional autoregressive methods, effectively bridging the gap between pretraining strategies for language and vision models. Code is available at https://github.com/ydchen0806/TokenUnify.

Autoregressive (AR) modeling, known for its next-token prediction paradigm, underpins state-of-the-art language and visual generative models. Traditionally, a ``token'' is treated as the smallest prediction unit, often a discrete symbol in language or a quantized patch in vision. However, the optimal token definition for 2D image structures remains an open question. Moreover, AR models suffer from exposure bias, where teacher forcing during training leads to error accumulation at inference. In this paper, we propose xAR, a generalized AR framework that extends the notion of a token to an entity X, which can represent an individual patch token, a cell (a ktimes k grouping of neighboring patches), a subsample (a non-local grouping of distant patches), a scale (coarse-to-fine resolution), or even a whole image. Additionally, we reformulate discrete token classification as continuous entity regression, leveraging flow-matching methods at each AR step. This approach conditions training on noisy entities instead of ground truth tokens, leading to Noisy Context Learning, which effectively alleviates exposure bias. As a result, xAR offers two key advantages: (1) it enables flexible prediction units that capture different contextual granularity and spatial structures, and (2) it mitigates exposure bias by avoiding reliance on teacher forcing. On ImageNet-256 generation benchmark, our base model, xAR-B (172M), outperforms DiT-XL/SiT-XL (675M) while achieving 20times faster inference. Meanwhile, xAR-H sets a new state-of-the-art with an FID of 1.24, running 2.2times faster than the previous best-performing model without relying on vision foundation modules (\eg, DINOv2) or advanced guidance interval sampling.

MRI reconstruction is an inherently ill-posed inverse problem, since incomplete measurements admit many plausible solutions. This ambiguity becomes more severe under high acceleration, where pixel-domain continuous predictors tend to average over feasible reconstructions and suppress high-frequency anatomy. We address this limitation by moving reconstruction to discrete multi-scale latent space and posing it as autoregressive next-acceleration-scale prediction. Leveraging discrete priors proven effective in visual autoregressive modeling, our method restricts the solution to compact sequences of codebook tokens, enabling sharp reconstructions even from extremely sparse measurements. This discrete autoregressive formulation also aligns naturally with modern large language model post-training techniques. Building on this observation, we introduce on-policy privileged information distillation for visual autoregressive modeling, where a teacher is provided training only privileged context that is unavailable at inference, in our case fully sampled acquisitions, and supervises a student trained on its own rollouts, leading to consistent reconstruction gains. Through extensive experiments on the fastMRI benchmark, we show that our approach delivers improved reconstruction performance across diverse sampling patterns under extreme undersampling. Project website is https://yilmazkorkmaz1.github.io/discrete-mri-reconstruction-opd/{here}.

Recent advances in video generation have been dominated by diffusion and flow-matching models, which produce high-quality results but remain computationally intensive and difficult to scale. In this work, we introduce VideoAR, the first large-scale Visual Autoregressive (VAR) framework for video generation that combines multi-scale next-frame prediction with autoregressive modeling. VideoAR disentangles spatial and temporal dependencies by integrating intra-frame VAR modeling with causal next-frame prediction, supported by a 3D multi-scale tokenizer that efficiently encodes spatio-temporal dynamics. To improve long-term consistency, we propose Multi-scale Temporal RoPE, Cross-Frame Error Correction, and Random Frame Mask, which collectively mitigate error propagation and stabilize temporal coherence. Our multi-stage pretraining pipeline progressively aligns spatial and temporal learning across increasing resolutions and durations. Empirically, VideoAR achieves new state-of-the-art results among autoregressive models, improving FVD on UCF-101 from 99.5 to 88.6 while reducing inference steps by over 10x, and reaching a VBench score of 81.74-competitive with diffusion-based models an order of magnitude larger. These results demonstrate that VideoAR narrows the performance gap between autoregressive and diffusion paradigms, offering a scalable, efficient, and temporally consistent foundation for future video generation research.

Audio mixing style encompasses the artistic and technical decisions a mix engineer makes, including level balancing, spatialization, and the choice, ordering, and parameterization of audio effects (FX) on each stem. FX chains are a key determinant of this style, yet existing approaches to modeling them remain limited. Some operate on stereo mixtures without explicit per-stem FX chain modeling, others fix the number or type of effects per track, and many require differentiable effect implementations or scarce multitrack datasets. We present StemFX, a framework that learns mixing style representations by autoregressively predicting variable-length FX chains on source-separated stems. A Transformer decoder predicts tokenized FX chains autoregressively, while a band-split multi-band CNN encoder with FiLM conditioning captures per-stem spectral structure. To enable large-scale paired training, we extract pseudo-stems from about 105K songs via source separation and augment them using MultiAFx, a toolkit unifying 85 audio effects from 7 Python libraries. Evaluated on mixing style retrieval, StemFX outperforms all baseline models across all tested chain lengths. On paired mixing style transfer, StemFX achieves the best spectral fidelity and the highest listener preference, over 4000 times faster than iterative optimization.

Generating multi-view images from human instructions is crucial for 3D content creation. The primary challenges involve maintaining consistency across multiple views and effectively synthesizing shapes and textures under diverse conditions. In this paper, we propose the Multi-View Auto-Regressive (MV-AR) method, which leverages an auto-regressive model to progressively generate consistent multi-view images from arbitrary prompts. Firstly, the next-token-prediction capability of the AR model significantly enhances its effectiveness in facilitating progressive multi-view synthesis. When generating widely-separated views, MV-AR can utilize all its preceding views to extract effective reference information. Subsequently, we propose a unified model that accommodates various prompts via architecture designing and training strategies. To address multiple conditions, we introduce condition injection modules for text, camera pose, image, and shape. To manage multi-modal conditions simultaneously, a progressive training strategy is employed. This strategy initially adopts the text-to-multi-view (t2mv) model as a baseline to enhance the development of a comprehensive X-to-multi-view (X2mv) model through the randomly dropping and combining conditions. Finally, to alleviate the overfitting problem caused by limited high-quality data, we propose the "Shuffle View" data augmentation technique, thus significantly expanding the training data by several magnitudes. Experiments demonstrate the performance and versatility of our MV-AR, which consistently generates consistent multi-view images across a range of conditions and performs on par with leading diffusion-based multi-view image generation models. Code and models will be released at https://github.com/MILab-PKU/MVAR.

Camera trajectory design plays a crucial role in video production, serving as a fundamental tool for conveying directorial intent and enhancing visual storytelling. In cinematography, Directors of Photography meticulously craft camera movements to achieve expressive and intentional framing. However, existing methods for camera trajectory generation remain limited: Traditional approaches rely on geometric optimization or handcrafted procedural systems, while recent learning-based methods often inherit structural biases or lack textual alignment, constraining creative synthesis. In this work, we introduce an auto-regressive model inspired by the expertise of Directors of Photography to generate artistic and expressive camera trajectories. We first introduce DataDoP, a large-scale multi-modal dataset containing 29K real-world shots with free-moving camera trajectories, depth maps, and detailed captions in specific movements, interaction with the scene, and directorial intent. Thanks to the comprehensive and diverse database, we further train an auto-regressive, decoder-only Transformer for high-quality, context-aware camera movement generation based on text guidance and RGBD inputs, named GenDoP. Extensive experiments demonstrate that compared to existing methods, GenDoP offers better controllability, finer-grained trajectory adjustments, and higher motion stability. We believe our approach establishes a new standard for learning-based cinematography, paving the way for future advancements in camera control and filmmaking. Our project website: https://kszpxxzmc.github.io/GenDoP/.

Test-time scaling (TTS) has demonstrated remarkable success in enhancing large language models, yet its application to next-token prediction (NTP) autoregressive (AR) image generation remains largely uncharted. Existing TTS approaches for visual AR (VAR), which rely on frequent partial decoding and external reward models, are ill-suited for NTP-based image generation due to the inherent incompleteness of intermediate decoding results. To bridge this gap, we introduce ScalingAR, the first TTS framework specifically designed for NTP-based AR image generation that eliminates the need for early decoding or auxiliary rewards. ScalingAR leverages token entropy as a novel signal in visual token generation and operates at two complementary scaling levels: (i) Profile Level, which streams a calibrated confidence state by fusing intrinsic and conditional signals; and (ii) Policy Level, which utilizes this state to adaptively terminate low-confidence trajectories and dynamically schedule guidance for phase-appropriate conditioning strength. Experiments on both general and compositional benchmarks show that ScalingAR (1) improves base models by 12.5% on GenEval and 15.2% on TIIF-Bench, (2) efficiently reduces visual token consumption by 62.0% while outperforming baselines, and (3) successfully enhances robustness, mitigating performance drops by 26.0% in challenging scenarios.

We introduce TreeMeshGPT, an autoregressive Transformer designed to generate high-quality artistic meshes aligned with input point clouds. Instead of the conventional next-token prediction in autoregressive Transformer, we propose a novel Autoregressive Tree Sequencing where the next input token is retrieved from a dynamically growing tree structure that is built upon the triangle adjacency of faces within the mesh. Our sequencing enables the mesh to extend locally from the last generated triangular face at each step, and therefore reduces training difficulty and improves mesh quality. Our approach represents each triangular face with two tokens, achieving a compression rate of approximately 22% compared to the naive face tokenization. This efficient tokenization enables our model to generate highly detailed artistic meshes with strong point cloud conditioning, surpassing previous methods in both capacity and fidelity. Furthermore, our method generates mesh with strong normal orientation constraints, minimizing flipped normals commonly encountered in previous methods. Our experiments show that TreeMeshGPT enhances the mesh generation quality with refined details and normal orientation consistency.

The massive volume of data generated by LiDAR sensors in autonomous vehicles creates a bottleneck for real-time processing and vehicle-to-everything (V2X) transmission. Existing lossless compression methods often force a trade-off: industry standard algorithms (e.g., LASzip) lack adaptability, while deep learning approaches suffer from prohibitive computational costs. This paper proposes LiZIP, a lightweight, near-lossless zero-drift compression framework based on neural predictive coding. By utilizing a compact Multi-Layer Perceptron (MLP) to predict point coordinates from local context, LiZIP efficiently encodes only the sparse residuals. We evaluate LiZIP on the NuScenes and Argoverse datasets, benchmarking against GZip, LASzip, and Google Draco (configured with 24-bit quantization to serve as a high-precision geometric baseline). Results demonstrate that LiZIP consistently achieves superior compression ratios across varying environments. The proposed system achieves a 7.5%-14.8% reduction in file size compared to the industry-standard LASzip and outperforms Google Draco by 8.8%-11.3% across diverse datasets. Furthermore, the system demonstrates generalization capabilities on the unseen Argoverse dataset without retraining. Against the general purpose GZip algorithm, LiZIP achieves a reduction of 38%-48%. This efficiency offers a distinct advantage for bandwidth constrained V2X applications and large scale cloud archival.

Implicit Neural Representations (INR) have recently shown to be powerful tool for high-quality video compression. However, existing works are limiting as they do not explicitly exploit the temporal redundancy in videos, leading to a long encoding time. Additionally, these methods have fixed architectures which do not scale to longer videos or higher resolutions. To address these issues, we propose NIRVANA, which treats videos as groups of frames and fits separate networks to each group performing patch-wise prediction. This design shares computation within each group, in the spatial and temporal dimensions, resulting in reduced encoding time of the video. The video representation is modeled autoregressively, with networks fit on a current group initialized using weights from the previous group's model. To further enhance efficiency, we perform quantization of the network parameters during training, requiring no post-hoc pruning or quantization. When compared with previous works on the benchmark UVG dataset, NIRVANA improves encoding quality from 37.36 to 37.70 (in terms of PSNR) and the encoding speed by 12X, while maintaining the same compression rate. In contrast to prior video INR works which struggle with larger resolution and longer videos, we show that our algorithm is highly flexible and scales naturally due to its patch-wise and autoregressive designs. Moreover, our method achieves variable bitrate compression by adapting to videos with varying inter-frame motion. NIRVANA achieves 6X decoding speed and scales well with more GPUs, making it practical for various deployment scenarios.

Dense retrieval embedding models are a fundamental component of modern retrieval-based AI systems. Most dense retrievers are trained with contrastive objectives, which require labeled positive and negative document pairs that are often costly and difficult to obtain. In this work, we investigate whether the autoregressive next-token prediction objective of a large language model (LLM) can provide supervision for dense retrieval. The intuition is simple: if a document contains information relevant to a query, conditioning on that document should make the target output easier for the LLM to predict. A key challenge is that the next-token prediction loss is computed inside the LLM, while the retriever is a separate embedding model. To address this challenge, we propose DREAM (Dense Retrieval Embeddings via Autoregressive Modeling), which injects retriever-generated query-document similarity scores into selected attention heads of a frozen LLM. During training, these scores determine how much attention each candidate document receives while the LLM predicts the target output. The resulting prediction loss provides gradients for retriever training through the attention mechanism. We evaluate DREAM on retrieval benchmarks BEIR and RTEB using embedding backbones ranging from 0.5B to 3B parameters. DREAM consistently outperforms existing baselines across different model scales. These results demonstrate that DREAM provides a promising approach for training dense retrievers through autoregressive modeling.

Auto-regressive models have achieved impressive results in 2D image generation by modeling joint distributions in grid space. In this paper, we extend auto-regressive models to 3D domains, and seek a stronger ability of 3D shape generation by improving auto-regressive models at capacity and scalability simultaneously. Firstly, we leverage an ensemble of publicly available 3D datasets to facilitate the training of large-scale models. It consists of a comprehensive collection of approximately 900,000 objects, with multiple properties of meshes, points, voxels, rendered images, and text captions. This diverse labeled dataset, termed Objaverse-Mix, empowers our model to learn from a wide range of object variations. However, directly applying 3D auto-regression encounters critical challenges of high computational demands on volumetric grids and ambiguous auto-regressive order along grid dimensions, resulting in inferior quality of 3D shapes. To this end, we then present a novel framework Argus3D in terms of capacity. Concretely, our approach introduces discrete representation learning based on a latent vector instead of volumetric grids, which not only reduces computational costs but also preserves essential geometric details by learning the joint distributions in a more tractable order. The capacity of conditional generation can thus be realized by simply concatenating various conditioning inputs to the latent vector, such as point clouds, categories, images, and texts. In addition, thanks to the simplicity of our model architecture, we naturally scale up our approach to a larger model with an impressive 3.6 billion parameters, further enhancing the quality of versatile 3D generation. Extensive experiments on four generation tasks demonstrate that Argus3D can synthesize diverse and faithful shapes across multiple categories, achieving remarkable performance.

There has been a lot of recent interest in designing neural network models to estimate a distribution from a set of examples. We introduce a simple modification for autoencoder neural networks that yields powerful generative models. Our method masks the autoencoder's parameters to respect autoregressive constraints: each input is reconstructed only from previous inputs in a given ordering. Constrained this way, the autoencoder outputs can be interpreted as a set of conditional probabilities, and their product, the full joint probability. We can also train a single network that can decompose the joint probability in multiple different orderings. Our simple framework can be applied to multiple architectures, including deep ones. Vectorized implementations, such as on GPUs, are simple and fast. Experiments demonstrate that this approach is competitive with state-of-the-art tractable distribution estimators. At test time, the method is significantly faster and scales better than other autoregressive estimators.

We present an approach to pose object recognition as next token prediction. The idea is to apply a language decoder that auto-regressively predicts the text tokens from image embeddings to form labels. To ground this prediction process in auto-regression, we customize a non-causal attention mask for the decoder, incorporating two key features: modeling tokens from different labels to be independent, and treating image tokens as a prefix. This masking mechanism inspires an efficient method - one-shot sampling - to simultaneously sample tokens of multiple labels in parallel and rank generated labels by their probabilities during inference. To further enhance the efficiency, we propose a simple strategy to construct a compact decoder by simply discarding the intermediate blocks of a pretrained language model. This approach yields a decoder that matches the full model's performance while being notably more efficient. The code is available at https://github.com/kaiyuyue/nxtp

This paper investigates the scaling properties of autoregressive next-pixel prediction, a simple, end-to-end yet under-explored framework for unified vision models. Starting with images at resolutions of 32x32, we train a family of Transformers using IsoFlops profiles across compute budgets up to 7e19 FLOPs and evaluate three distinct target metrics: next-pixel prediction objective, ImageNet classification accuracy, and generation quality measured by Fr'echet Distance. First, optimal scaling strategy is critically task-dependent. At a fixed 32x32 resolution alone, the optimal scaling properties for image classification and image generation diverge, where generation optimal setup requires the data size grow three to five times faster than for the classification optimal setup. Second, as image resolution increases, the optimal scaling strategy indicates that the model size must grow much faster than data size. Surprisingly, by projecting our findings, we discover that the primary bottleneck is compute rather than the amount of training data. As compute continues to grow four to five times annually, we forecast the feasibility of pixel-by-pixel modeling of images within the next five years.

Recent vision-language-action (VLA) models built on pretrained vision-language models (VLMs) have demonstrated strong generalization across manipulation tasks. However, they remain constrained by a single-frame observation paradigm and cannot fully benefit from the motion information offered by aggregated multi-frame historical observations, as the large vision-language backbone introduces substantial computational cost and inference latency. We propose CronusVLA, a unified framework that extends single-frame VLA models to the multi-frame paradigm through an efficient post-training stage. CronusVLA comprises three key components: (1) single-frame pretraining on large-scale embodied datasets with autoregressive action tokens prediction, which establishes an embodied vision-language foundation; (2) multi-frame encoding, adapting the prediction of vision-language backbones from discrete action tokens to motion features during post-training, and aggregating motion features from historical frames into a feature chunking; (3) cross-frame decoding, which maps the feature chunking to accurate actions via a shared decoder with cross-attention. By reducing redundant token computation and caching past motion features, CronusVLA achieves efficient inference. As an application of motion features, we further propose an action adaptation mechanism based on feature-action retrieval to improve model performance during finetuning. CronusVLA achieves state-of-the-art performance on SimplerEnv with 70.9% success rate, and 12.7% improvement over OpenVLA on LIBERO. Real-world Franka experiments also show the strong performance and robustness.

Recent efforts have been dedicated to enhancing time series forecasting accuracy by introducing advanced network architectures and self-supervised pretraining strategies. Nevertheless, existing approaches still exhibit two critical drawbacks. Firstly, these methods often rely on a single dataset for training, limiting the model's generalizability due to the restricted scale of the training data. Secondly, the one-step generation schema is widely followed, which necessitates a customized forecasting head and overlooks the temporal dependencies in the output series, and also leads to increased training costs under different horizon length settings. To address these issues, we propose a novel generative pretrained hierarchical transformer architecture for forecasting, named GPHT. There are two aspects of key designs in GPHT. On the one hand, we advocate for constructing a mixed dataset for pretraining our model, comprising various datasets from diverse data scenarios. This approach significantly expands the scale of training data, allowing our model to uncover commonalities in time series data and facilitating improved transfer to specific datasets. On the other hand, GPHT employs an auto-regressive forecasting approach under the channel-independent assumption, effectively modeling temporal dependencies in the output series. Importantly, no customized forecasting head is required, enabling a single model to forecast at arbitrary horizon settings. We conduct sufficient experiments on eight datasets with mainstream self-supervised pretraining models and supervised models. The results demonstrated that GPHT surpasses the baseline models across various fine-tuning and zero/few-shot learning settings in the traditional long-term forecasting task, providing support for verifying the feasibility of pretrained time series large models.

In this paper, we propose a unified framework that leverages a single pretrained LLM for Motion-related Multimodal Generation, referred to as MoMug. MoMug integrates diffusion-based continuous motion generation with the model's inherent autoregressive discrete text prediction capabilities by fine-tuning a pretrained LLM. This enables seamless switching between continuous motion output and discrete text token prediction within a single model architecture, effectively combining the strengths of both diffusion- and LLM-based approaches. Experimental results show that, compared to the most recent LLM-based baseline, MoMug improves FID by 38% and mean accuracy across seven metrics by 16.61% on the text-to-motion task. Additionally, it improves mean accuracy across eight metrics by 8.44% on the text-to-motion task. To the best of our knowledge, this is the first approach to integrate diffusion- and LLM-based generation within a single model for motion-related multimodal tasks while maintaining low training costs. This establishes a foundation for future advancements in motion-related generation, paving the way for high-quality yet cost-efficient motion synthesis.

The massive adoption of large language models (LLMs) demands efficient deployment strategies. However, the auto-regressive decoding process, which is fundamental to how most LLMs generate text, poses challenges to achieve efficient serving. In this work, we introduce a parallel auto-regressive generation method. By instruct-tuning on general domain data that contains hierarchical structures, we enable LLMs to independently plan their generation process and perform auto-parallel auto-regressive (APAR) generation, significantly reducing the number of generation steps. APAR alone can achieve up to 2x speed-up, and when combined with speculative decoding, the speed-up can reach up to 4x. In addition, APAR reduces the key-value cache consumption and attention computation during generation. This leads to a throughput increase of 20-70% and a latency reduce of 20-35% in high-throughput scenarios, compared to state-of-the-art serving frameworks.

Autoregressive next token prediction language models offer powerful capabilities but face significant challenges in practical deployment due to the high computational and memory costs of inference, particularly during the decoding stage. We introduce Set Block Decoding (SBD), a simple and flexible paradigm that accelerates generation by integrating standard next token prediction (NTP) and masked token prediction (MATP) within a single architecture. SBD allows the model to sample multiple, not necessarily consecutive, future tokens in parallel, a key distinction from previous acceleration methods. This flexibility allows the use of advanced solvers from the discrete diffusion literature, offering significant speedups without sacrificing accuracy. SBD requires no architectural changes or extra training hyperparameters, maintains compatibility with exact KV-caching, and can be implemented by fine-tuning existing next token prediction models. By fine-tuning Llama-3.1 8B and Qwen-3 8B, we demonstrate that SBD enables a 3-5x reduction in the number of forward passes required for generation while achieving same performance as equivalent NTP training.

Speculative decoding accelerates large language model inference without changing the target distribution, but no single drafting structure performs best across real-world workloads. Autoregressive multi-token prediction (MTP) is a lightweight, stable proposal mechanism, whereas block-parallel diffusion amortizes drafting latency over much longer candidate sequences; the better choice depends strongly on the output distribution. We present AngelSpec, a unified training framework for MTP and block-parallel speculative decoding that addresses this heterogeneity at three levels. At the training level, rather than fitting one universal drafter to a uniform data mixture, we co-specialize structure and data: the MTP drafter is trained on diverse conversational data for high-entropy open-ended chat, and the block-diffusion drafter on code and mathematics data for longer predictable continuations. At the architecture level, we propose DFly, a block-diffusion framework combining a hybrid target-conditioning backbone with a predecessor-conditioned autoregressive head, improving target-feature utilization and intra-block dependency modeling while keeping generation parallel. At the inference level, both acceptance length and verification cost vary with domain, request, online load, and hardware, so DFly treats verification as a shared batch-level resource: it reallocates compute toward high-confidence prefixes across requests and combines expected utility with a profiled cost model to adapt verification depth online. Across the Hy3 series, DFly raises the average accepted length on Hy3-A21B by roughly 30% and attains the highest average throughput at every tested concurrency from 4 to 64, a 1.98-2.40x speedup over autoregressive decoding and 10.5-11.8% higher throughput than DFlash. We release AngelSpec to support training and extending these methods.