Stability AI
stable-diffusion-xl-base-1.0 is a open-weight Stability AI image generation model.
Running this yourself: can likely run on your own machine.
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Jul 2023
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Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-frame pose differences but miss the physical artifacts that matter most, particularly unstable support and incorrect contacts such as foot skating and mistimed touch-downs. Meanwhile, widely used test suites are small and lack the diversity needed to stress contact-rich, long-horizon behaviors. We introduce HumanTracker to make humanoid tracking evaluation both perceptually aligned and scalable. The HumanTracker benchmark contains approximately 153 hours of optical motion trajectories from multiple professional performers, organized into four motion families with text labels for fine-grained diagnosis. We further propose HumanScore, a preference-aligned metric trained on 12K motion pairs containing 24K motions. Across representative state-of-the-art trackers, HumanScore better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.
Autonomous agents are increasingly capable of improving models, systems, and other technical artifacts through long-horizon experimentation. To understand the current state of this capability, however, evaluation must go beyond final scores, which neither reveal where progress is gained or lost nor indicate whether accumulated experience improves later decisions. We therefore present a systematic evaluation of seven frontier models on 36 long-horizon tasks based on a new framework that uses rule-based metrics to characterize within-run behavior through Solution Framing, Execution, and Feedback Control and controlled comparisons to assess experience reuse within and across tasks. The results show that current agents operate more like engineering optimizers than fully autonomous researchers: they can formulate and implement practical solutions, but their performance varies substantially across runs, their strongest solutions mainly adapt or combine established techniques, and genuine methodological novelty remains rare. Detailed analysis reveals that observed performance is shaped by multiple factors, including distinct process bottlenecks behind similar final outcomes, experience reuse that can help or mislead subsequent decisions, and harness designs that affect performance stability. These findings suggest concrete directions for improving model training, inference-time strategies, experience management, and harness design.
View source4D generation synthesizes dynamic 3D scenes from conditions such as text or images. Existing methods either reconstruct generated RGB videos with a separate 4D model or adapt a particular video generator to predict geometry directly. The former suffers from distribution mismatch and error propagation, whereas the latter ties 4D prediction to a specific generator and may require retraining when the generator or conditioning regime changes. We ask whether the final denoised latents of video models that share a variational autoencoder (VAE) can instead provide a reusable interface to explicit 4D prediction. Building on this insight, we introduce direct latent-to-4D generation and instantiate it as Latent-to-4D, which bypasses RGB by aligning a video latent with the token grid of a pretrained 4D decoder and refining it through frame-wise and global spatiotemporal attention. Trained on roughly 1K existing reconstruction clips, a single checkpoint transfers unchanged across multiple video diffusion transformers within the same VAE family. On Text4D-200 and I4D-200, Latent-to-4D surpasses matched same-latent Wan+4RC cascades in projection-based DINO-F1 by 2.88--3.45 and 5.81 points, respectively, while also being preferred by human raters for geometry, temporal stability, and overall quality.
View sourceAutoregressive transformers compute along two axes: horizontally across generated tokens, and vertically through model depth. Dense attention gives each token broad horizontal access to the past, but the vertical feedback channel between decoding steps remains narrow: only the sampled token returns to the bottom of the stack, while the top-layer hidden state is discarded. We introduce the full-bandwidth transformer, which widens this channel with latent feedback: at each decoding step, the previous top-layer hidden state is fused with the sampled token embedding through a gated linear unit and fed back as the next input. Latent feedback lets non-verbalized computation re-enter the stack with a renewed depth budget, while preserving the standard transformer architecture, KV cache, and language-modeling objective. To train full-bandwidth transformers without losing parallel teacher forcing, we use a scheduled multi-pass objective that introduces latent feedback late in pretraining and mixes a small fraction of deeper feedback passes for stability. We train 1B-parameter full-bandwidth transformers up to 400B tokens and find that latent feedback improves validation loss, 5-shot language-model evaluation, math and coding generation, and instruction-tuned performance. With negligible per-token decoding overhead, full-bandwidth transformers match or approach standard transformers trained with roughly 1.5times more tokens, and manage to produce shorter reasoning traces at equal or better accuracy.
View sourceHumanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-frame pose differences but miss the physical artifacts that matter most, particularly unstable support and incorrect contacts such as foot skating and mistimed touch-downs. Meanwhile, widely used test suites are small and lack the diversity needed to stress contact-rich, long-horizon behaviors. We introduce HumanTracker to make humanoid tracking evaluation both perceptually aligned and scalable. The HumanTracker benchmark contains approximately 153 hours of optical motion trajectories from multiple professional performers, organized into four motion families with text labels for fine-grained diagnosis. We further propose HumanScore, a preference-aligned metric trained on 12K motion pairs containing 24K motions. Across representative state-of-the-art trackers, HumanScore better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.
Autonomous agents are increasingly capable of improving models, systems, and other technical artifacts through long-horizon experimentation. To understand the current state of this capability, however, evaluation must go beyond final scores, which neither reveal where progress is gained or lost nor indicate whether accumulated experience improves later decisions. We therefore present a systematic evaluation of seven frontier models on 36 long-horizon tasks based on a new framework that uses rule-based metrics to characterize within-run behavior through Solution Framing, Execution, and Feedback Control and controlled comparisons to assess experience reuse within and across tasks. The results show that current agents operate more like engineering optimizers than fully autonomous researchers: they can formulate and implement practical solutions, but their performance varies substantially across runs, their strongest solutions mainly adapt or combine established techniques, and genuine methodological novelty remains rare. Detailed analysis reveals that observed performance is shaped by multiple factors, including distinct process bottlenecks behind similar final outcomes, experience reuse that can help or mislead subsequent decisions, and harness designs that affect performance stability. These findings suggest concrete directions for improving model training, inference-time strategies, experience management, and harness design.
4D generation synthesizes dynamic 3D scenes from conditions such as text or images. Existing methods either reconstruct generated RGB videos with a separate 4D model or adapt a particular video generator to predict geometry directly. The former suffers from distribution mismatch and error propagation, whereas the latter ties 4D prediction to a specific generator and may require retraining when the generator or conditioning regime changes. We ask whether the final denoised latents of video models that share a variational autoencoder (VAE) can instead provide a reusable interface to explicit 4D prediction. Building on this insight, we introduce direct latent-to-4D generation and instantiate it as Latent-to-4D, which bypasses RGB by aligning a video latent with the token grid of a pretrained 4D decoder and refining it through frame-wise and global spatiotemporal attention. Trained on roughly 1K existing reconstruction clips, a single checkpoint transfers unchanged across multiple video diffusion transformers within the same VAE family. On Text4D-200 and I4D-200, Latent-to-4D surpasses matched same-latent Wan+4RC cascades in projection-based DINO-F1 by 2.88--3.45 and 5.81 points, respectively, while also being preferred by human raters for geometry, temporal stability, and overall quality.
Autoregressive transformers compute along two axes: horizontally across generated tokens, and vertically through model depth. Dense attention gives each token broad horizontal access to the past, but the vertical feedback channel between decoding steps remains narrow: only the sampled token returns to the bottom of the stack, while the top-layer hidden state is discarded. We introduce the full-bandwidth transformer, which widens this channel with latent feedback: at each decoding step, the previous top-layer hidden state is fused with the sampled token embedding through a gated linear unit and fed back as the next input. Latent feedback lets non-verbalized computation re-enter the stack with a renewed depth budget, while preserving the standard transformer architecture, KV cache, and language-modeling objective. To train full-bandwidth transformers without losing parallel teacher forcing, we use a scheduled multi-pass objective that introduces latent feedback late in pretraining and mixes a small fraction of deeper feedback passes for stability. We train 1B-parameter full-bandwidth transformers up to 400B tokens and find that latent feedback improves validation loss, 5-shot language-model evaluation, math and coding generation, and instruction-tuned performance. With negligible per-token decoding overhead, full-bandwidth transformers match or approach standard transformers trained with roughly 1.5times more tokens, and manage to produce shorter reasoning traces at equal or better accuracy.
Benchmarking video-language models has largely focused on short clips and single-sentence metrics, leaving open whether current systems can generate accurate long-form, paragraph-level descriptions. We introduce CLIP-CC-Bench, an evaluation suite for long-form video description built from 5 hours of movie content segmented into 90-second clips, each paired with an expert-written paragraph-style reference. The evaluation suite employs an ensemble of five state-of-the-art LLM-based embedding models to increase reliability and mitigate single-model bias, and applies two complementary methodologies: (i) coarse-grained semantic matching and (ii) fine-grained semantic matching to compare model-generated descriptions against CLIP-CC-Bench references. Using this framework, we evaluate 17 state-of-the-art video-language models and report both their Borda-aggregated rankings and their average scores on CLIP-CC-Bench. We further quantify the protocol's internal reliability through inter-judge agreement and bootstrap ranking stability. We release standardized evaluation scripts, model outputs, and aggregation tools at https://github.com/Multimodal-Intelligence-Lab/CLIP-CC-Bench to support reproducibility. CLIP-CC-Bench provides a practical evaluation framework for long-form video description, filling a gap left by existing short-clip and QA-only benchmarks.
Video world models predict future observations conditioned on historical observations and control signals, enabling long-horizon generation through autoregressive state transitions. Unlike conventional video generation models that primarily capture visual appearance and motion, video world models learn the underlying dynamics governing environment evolution under agent actions, providing a foundation for embodied AI and interactive simulation. Recent progress has largely relied on adapting pretrained video generation models through post-training or distillation. Although effective, these approaches often require complex training pipelines, substantial computational resources, and suffer from the mismatch between bidirectional pretraining and causal streaming inference. Recent studies have shown that training autoregressive video world models from scratch is feasible and scalable. However, the community still lacks a lightweight, transparent, and fully reproducible baseline trainable end-to-end with modest computational resources. We present MiniWorld, a reproducible framework for training streaming video world models from scratch. MiniWorld employs a block-causal Video Diffusion Transformer trained with Flow Matching in the latent space of a pretrained Video VAE. Building on Diffusion Forcing, it adopts a chunk-wise non-decreasing noise schedule and two-stage continued training to improve temporal modeling and stability. During inference, MiniWorld combines a rolling KV cache with pipelined asynchronous denoising for efficient streaming generation under bounded computation. The entire model can be trained within several days on a single 8-GPU server. By releasing the training and inference codebase and pretrained checkpoints, we hope MiniWorld will facilitate future research on video world modeling.