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首次观测 · 记录 #1CVF · CVPR 2026:cvf:742814f7817c0c8a42dd36110ce700f8CVF · CVPR 2026

SRA 2: Variational Autoencoder Self-Representation Alignment for Efficient Diffusion Training

Wang, Mengmeng, Jiang, Dengyang, Li, Liuzhuozheng, Lin, Yucheng, Shen, Guojiang, Kong, Xiangjie, Liu, Yong, Dai, Guang 等 9 位作者

Denoising-based diffusion transformers, despite their strong generation performance, suffer from inefficient training convergence. Existing methods addressing this issue, such as REPA (relying on external representation encoders) or SRA (requiring dual-model setups), inevitably incur heavy computational overhead during training due to external dependencies. To tackle these challenges, this paper proposes SRA 2, a lightweight intrinsic self-representation alignment framework for efficient diffusion training. SRA 2 leverages off-the-shelf pre-trained Variational Autoencoder (VAE) features: their reconstruction property ensures inherent encoding of visual priors like rich texture details, structural patterns, and basic semantic information. Specifically, SRA 2 aligns the intermediate latent features of diffusion transformers with VAE features via a lightweight projection layer, supervised by a feature alignment loss. This design accelerates training without extra representation encoders or dual-model maintenance, resulting in a simple yet effective pipeline. Extensive experiments demonstrate that SRA 2 improves both generation quality and training convergence speed compared to vanilla diffusion transformers, matches or outperforms state-of-the-art acceleration methods, and incurs merely 4% extra GFLOPs with zero additional cost for external guidance models.

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cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

CVF · CVPR 2026 ↗PDF ↗
首次观测 · 记录 #1CVF · CVPR 2026:cvf:7a8d117b3f313db2e94bd95eac32a0f2CVF · CVPR 2026

DynBridge: Bridging Imagination and Control through Interaction Dynamics for Robot Manipulation

Wang, Alex, Dong, Zhiwei, Bai, Qicheng, Zhang, Chenshi, Yi, Yujie, Dai, Guang, Liu, Yong, Wang, Mengmeng

Recent generative models allow robots to generate future visual outcomes for action guidance, yet most still address imagination and control independently, resulting in visually coherent rollouts but physically inconsistent behaviors. While structural priors enhance spatial grounding, these methods remain visually correlation-driven rather than causally informed, overlooking the bidirectional coupling between robot actions and the evolving environment. We formalize the coupling as interaction dynamics, which specify where environmental changes occur and how actions cause them. Based on this formulation, we introduce DynBridge, an end-to-end framework that unifies imagination and control through the shared dynamics representation. Specifically, DynBridge realizes this via three components: (1) an Interaction Dynamics Generator that forecasts interaction dynamics via joint trajectory generation and action prediction; (2) an Action-Conditioned Dynamics Aggregator that integrates dynamics under control signals; and (3) a Dynamics-Guided Action Predictor that leverages the aggregated dynamics to produce executable, context-aware actions. Results demonstrate that DynBridge consistently outperforms prior methods on simulated and real-world benchmarks without external pretraining.

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cs.CV

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition · 2026 · 正式发表

CVF · CVPR 2026 ↗PDF ↗