Robotics paper index
Rethinking the design space of Vanilla Pixel Diffusion Transformers
One-line summary
A robotics research paper on Rethinking the design space of Vanilla Pixel Diffusion Transformers.
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Chinese explanation / 中文解读
中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
Pixel-space diffusion models have recently re-emerged as a compelling alternative to latent diffusion, avoiding the lossy latent bottleneck and separately trained autoencoder. JiT shows that a vanilla diffusion transformer can generate directly in pixel space by replacing the commonly used velocity prediction ($\boldsymbol{u}$-prediction) with clean image prediction ($\boldsymbol{x_0}$-prediction). In this work, we revisit this choice and introduce MFlow, an adaptive parameterization that learns to interpolate between $\boldsymbol{x_0}$- and $\boldsymbol{u}$-prediction across principal directions of the data, learned end-to-end with diffusion training. We find that the preferred parameterization varies systematically with the data representation and model capacity -- notably, increasing model capacity shifts preference toward velocity prediction. We evaluate MFlow across ImageNet, UCF-101 video, and large-scale text-to-image generation, demonstrating competitive or improved generative performance across diverse settings. In addition, we find that vanilla pixel diffusion transformers, irrespective of parameterization, retain a persistent high-frequency deficit relative to real images. To address this, we introduce ConvRefiner, a lightweight convolutional module trained post-hoc with an adversarial loss while keeping the diffusion backbone frozen. With only a small amount of additional training, ConvRefiner restores the high-frequency statistics of generated images while preserving FID. Project webpage: https://soumik-kanad.github.io/mflow-diffusion/.
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