The pursuit of autonomously self-improving models has attracted growing interest in the era of large-scale foundation models. Drawing inspiration from the concept of"enlightenment"or"aha moment"in human brain, we hypothesize that large models exhibit an analogous enlightenment phenomenon-a latent capacity for sudden capability boost. Then, we propose Enlightenment, a novel training-free post-tuning paradigm for large-scale models. Our approach modifies shortcuts for key modules/layers without weight updates, while existing training-free ones predominantly manipulate attention weights. We introduce two architecture-specific instantiations: i) For large language models, we propose attention head-mixing shortcuts that recalibrate attention weights by linking the initial attention head's output to all other target heads, modulated by an adaptive scaling factor initialization strategy. ii) For vision-language models, we apply a lightweight scalar-modulated factor to residual connections in the decoder layers, regulating information flow. Extensive experiments show that Enlightenment efficiently unlocks the latent potential of pre-trained networks, yielding remarkable performance improvements across diverse benchmarks and models.
By overcoming the longstanding memory and scalability barriers, RPG serves as a critical advance in ‘ AI generating AI ’, potentially enabling efficient weight generation at scales previously deemed infeasible.
Kai Wang, Dongwen Tang, Wangbo Zhao et al.· Neural Information Processin...· 7 citations· ⚡1
Despite the recent promise in robot control, video generative models suffer from a domain mismatch due to their primary focus on content creation. For example, their design inherently prioritizes visual fidelity and creativity over computational efficiency and physical realism. In this work, we present LingBot-Video, a DiT-based video pretraining paradigm specifically tailored for embodied intelligence. From the architecture perspective, we adopt the Mixture-of-Experts (MoE), instead of dense, framework to achieve a better trade-off between modeling capacity and inference efficiency, and manage to scale it up from scratch. From the data perspective, we construct a data profiling engine that augments standard internet videos with extensive robot-oriented footage, encompassing manipulation, navigation, and egocentric perspectives, to equip the base model with an intrinsic understanding of actions and world dynamics. From the training perspective, we develop a multi-dimensional reward system to enforce the alignment regarding physical rationality and task completion, going beyond standard criteria such as aesthetics, prompt-following, and motion consistency. Comprehensive evaluations validate its performance and efficiency as a video foundation model. We contribute LingBot-Video as the inaugural large-scale, open-source MoE video foundation model to the community, in a pioneering effort to bridge digital creativity and physical actuation.
Shuailei Ma, Jiaqi Liao, Xinyang Wang et al.· 4 citations
Self-improvement has emerged as a main-stream paradigm for advancing the reasoning capabilities of large vision–language models (LVLMs), where models explore and learn from successful trajectories iteratively. However, we identify a critical imbalance during this process: the model readily generates high-quality trajectories for simple queries (i.e., head data) but struggles with complex ones (i.e., tail data). This bias drives the optimization to disproportionately prioritize simple reasoning skills, while inhibiting the acquisition of complex capabilities. As iterations progress, this imbalance becomes more acute—a dynamic we term the “Matthew effect” 1 , ultimately stalling performance gains. To mitigate this, we approach head-tail re-balance during the exploration-and-learning process from two perspectives: distribution-reshaping and trajectory-resampling. Extensive experiments on Qwen2-VL-7B-Instruct and InternVL2.5-4B models across visual reasoning tasks demonstrate that our methods consistently improve visual reasoning capabilities, outperforming vanilla self-improvement baselines by an average of 3.86 points. 2
Xin Guo, Zhiheng Xi, Yiwen Ding et al.· Annual Meeting of the Associ...· 1 citation
Developing controllers capable of completing a wide range of tasks in a natural and life-like manner is a key challenge in enabling practical applications of physics-based character animation. In this work, we introduce Generative Pretrained Controllers (GPC), which leverage tokenization and next-token modeling to create general-purpose, reusable generative controllers from large-scale motion datasets. Our framework utilizes end-to-end reinforcement learning to jointly optimize a "motion vocabulary", modeled via Finite Scalar Quantization (FSQ), along with a corresponding control policy that can map the discrete codes to physics-based controls. After the "codebook" has been learned, the underlying structure of this large vocabulary is modeled by training a GPT-style autoregressive transformer, leading to a powerful generative controller that generates controls for a physically simulated character by performing next-token prediction. Once the generative controller has been trained, we propose a suite of adaptation techniques for finetuning the controller for new downstream tasks. Our proposed framework greatly simplifies the training process compared to previous tokenized methods, and achieves a 99.98% success rate in reproducing a vast corpus of motion clips. The generative controller exhibits a variety of natural emergent behaviors, such as responsive behaviors to perturbations and recovery behaviors after falling. This results in highly robust general purpose controllers for a variety of downstream applications.
Yi Shi, Yifeng Jiang, Chen Tessler et al.· International Conference on...· 0 citations
Text-to-image diffusion models can synthesize unsafe content on demand, which makes concept erasure an active safety problem. Existing training-free methods all intervene on the model's content pathway: they steer the predicted noise, project the text embedding, or rewrite cross-attention weights, controlling what the model paints. Yet a visual concept is carried not only by content but by structure, the way spatial parts bind into a coherent whole, which in diffusion U-Nets is governed by self-attention. We introduce SADE (Self-Attention Disruption Erasure), a training-free method that erases a concept by disrupting its structural assembly rather than its content: it reads a spatial saliency for the concept from the self-attention features, then down-weights the mutual attention among salient positions so the concept cannot form. The operator changes no weights, adds one strength parameter, and provably reduces to ordinary generation when the target concept is absent. On I2P, SADE matches state-of-the-art training-free erasure while preserving COCO image quality best among the compared methods, and its prompt-independent saliency resists text-based attacks. Existing methods stop the model from painting the concept; SADE lets it paint but keeps the pieces from coming together.
Xiaochuan Jin, Zheling Meng, Bo Peng et al.· 2026 6th International Confe...· 0 citations
Mainstream World-Action Models (WAMs) adapt pretrained video generation models (VGMs) for robot control, transferring their learned dynamics prior for action prediction. These VGMs are typically trained in a variational autoencoder (VAE) latent space. However, the VAE latent space is optimized for pixel reconstruction, which rewards fine appearance detail and leaves the action prediction fragile under visual shifts. Recent works build WAMs in semantic latent space, which are more robust to appearance shifts. However, these models cannot leverage the large-scale VGM pretraining that exists only in VAE space. To overcome this dilemma, we propose Robust-WAM, a general post-training method for video-generation-based WAMs that preserves the VAE-based generative path and adds a lightweight semantic foresight alignment objective on the action stream. This retains the large-scale VGM pretraining while grounding actions in appearance-invariant dynamics that stay reliable under illumination shifts and other visual out-of-distribution conditions. Specifically, we employ learnable query tokens to bring future-scene semantics into the action stream by aligning their output hidden states with the semantic foresight of future ground-truth frames. To establish the temporal correspondence between each query and the future step it describes, we give it the positional encoding of the matching action tokens. Experiments on out-of-distribution generalization simulation benchmarks and a real-robot setup show that our Robust-WAM consistently improves the success rates of multiple WAM baselines without sacrificing in-distribution performance.
Haodong Yan, Junfeng Li, Junjie He et al.· 0 citations