Daily Papers

When the environment is partially observable (PO), a deep reinforcement learning (RL) agent must learn a suitable temporal representation of the entire history in addition to a strategy to control. This problem is not novel, and there have been model-free and model-based algorithms proposed for this problem. However, inspired by recent success in model-free image-based RL, we noticed the absence of a model-free baseline for history-based RL that (1) uses full history and (2) incorporates recent advances in off-policy continuous control. Therefore, we implement recurrent versions of DDPG, TD3, and SAC (RDPG, RTD3, and RSAC) in this work, evaluate them on short-term and long-term PO domains, and investigate key design choices. Our experiments show that RDPG and RTD3 can surprisingly fail on some domains and that RSAC is the most reliable, reaching near-optimal performance on nearly all domains. However, one task that requires systematic exploration still proved to be difficult, even for RSAC. These results show that model-free RL can learn good temporal representation using only reward signals; the primary difficulty seems to be computational cost and exploration. To facilitate future research, we have made our PyTorch implementation publicly available at https://github.com/zhihanyang2022/off-policy-continuous-control.

Data-driven model predictive control has two key advantages over model-free methods: a potential for improved sample efficiency through model learning, and better performance as computational budget for planning increases. However, it is both costly to plan over long horizons and challenging to obtain an accurate model of the environment. In this work, we combine the strengths of model-free and model-based methods. We use a learned task-oriented latent dynamics model for local trajectory optimization over a short horizon, and use a learned terminal value function to estimate long-term return, both of which are learned jointly by temporal difference learning. Our method, TD-MPC, achieves superior sample efficiency and asymptotic performance over prior work on both state and image-based continuous control tasks from DMControl and Meta-World. Code and video results are available at https://nicklashansen.github.io/td-mpc.

As machine learning has moved towards leveraging large models as priors for downstream tasks, the community has debated the right form of prior for solving reinforcement learning (RL) problems. If one were to try to prefetch as much computation as possible, they would attempt to learn a prior over the policies for some yet-to-be-determined reward function. Recent work (forward-backward (FB) representation learning) has tried this, arguing that an unsupervised representation learning procedure can enable optimal control over arbitrary rewards without further fine-tuning. However, FB's training objective and learning behavior remain mysterious. In this paper, we demystify FB by clarifying when such representations can exist, what its objective optimizes, and how it converges in practice. We draw connections with rank matching, fitted Q-evaluation, and contraction mapping. Our analysis suggests a simplified unsupervised pre-training method for RL that, instead of enabling optimal control, performs one step of policy improvement. We call our proposed method one-step forward-backward representation learning (one-step FB). Experiments in didactic settings, as well as in 10 state-based and image-based continuous control domains, demonstrate that one-step FB converges to errors 10^5 smaller and improves zero-shot performance by +24% on average. Our project website is available at https://chongyi-zheng.github.io/onestep-fb.

Instruction-based image editing offers a powerful and intuitive way to manipulate images through natural language. Yet, relying solely on text instructions limits fine-grained control over the extent of edits. We introduce Kontinuous Kontext, an instruction-driven editing model that provides a new dimension of control over edit strength, enabling users to adjust edits gradually from no change to a fully realized result in a smooth and continuous manner. Kontinuous Kontext extends a state-of-the-art image editing model to accept an additional input, a scalar edit strength which is then paired with the edit instruction, enabling explicit control over the extent of the edit. To inject this scalar information, we train a lightweight projector network that maps the input scalar and the edit instruction to coefficients in the model's modulation space. For training our model, we synthesize a diverse dataset of image-edit-instruction-strength quadruplets using existing generative models, followed by a filtering stage to ensure quality and consistency. Kontinuous Kontext provides a unified approach for fine-grained control over edit strength for instruction driven editing from subtle to strong across diverse operations such as stylization, attribute, material, background, and shape changes, without requiring attribute-specific training.

Instruction-based image editing aims to modify source content according to textual instructions. However, existing methods built upon flow matching often struggle to maintain consistency in non-edited regions due to denoising-induced reconstruction errors that cause drift in preserved content. Moreover, they typically lack fine-grained control over edit strength. To address these limitations, we propose VeloEdit, a training-free method that enables highly consistent and continuously controllable editing. VeloEdit dynamically identifies editing regions by quantifying the discrepancy between the velocity fields responsible for preserving source content and those driving the desired edits. Based on this partition, we enforce consistency in preservation regions by substituting the editing velocity with the source-restoring velocity, while enabling continuous modulation of edit intensity in target regions via velocity interpolation. Unlike prior works that rely on complex attention manipulation or auxiliary trainable modules, VeloEdit operates directly on the velocity fields. Extensive experiments on Flux.1 Kontext and Qwen-Image-Edit demonstrate that VeloEdit improves visual consistency and editing continuity with negligible additional computational cost. Code is available at https://github.com/xmulzq/VeloEdit.

Diffusion-based editing models have emerged as a powerful tool for semantic image and video manipulation. However, existing models lack a mechanism for smoothly controlling the intensity of text-guided edits. In standard text-conditioned generation, Classifier-Free Guidance (CFG) impacts prompt adherence, suggesting it as a potential control for edit intensity in editing models. However, we show that scaling CFG in these models does not produce a smooth transition between the input and the edited result. We attribute this behavior to the unconditional prediction, which serves as the guidance origin and dominates the generation at low guidance scales, while representing an arbitrary manipulation of the input content. To enable continuous control, we introduce Adaptive-Origin Guidance (AdaOr), a method that adjusts this standard guidance origin with an identity-conditioned adaptive origin, using an identity instruction corresponding to the identity manipulation. By interpolating this identity prediction with the standard unconditional prediction according to the edit strength, we ensure a continuous transition from the input to the edited result. We evaluate our method on image and video editing tasks, demonstrating that it provides smoother and more consistent control compared to current slider-based editing approaches. Our method incorporates an identity instruction into the standard training framework, enabling fine-grained control at inference time without per-edit procedure or reliance on specialized datasets.

Single-image relighting is highly under-constrained: small illumination changes can produce large, nonlinear variations in shading, shadows, and specularities, while geometry and materials remain unobserved. Existing diffusion-based approaches either rely on intrinsic or G-buffer pipelines that require dense and fragile supervision, or operate purely in latent space without physical grounding, making fine-grained control of direction, intensity, and color unreliable. We observe that a full intrinsic decomposition is unnecessary and redundant for accurate relighting. Instead, sparse but physically meaningful cues, indicating where illumination should change and how materials should respond, are sufficient to guide a diffusion model. Based on this insight, we introduce LightCtrl that integrates physical priors at two levels: a few-shot latent proxy encoder that extracts compact material-geometry cues from limited PBR supervision, and a lighting-aware mask that identifies sensitive illumination regions and steers the denoiser toward shading relevant pixels. To compensate for scarce PBR data, we refine the proxy branch using a DPO-based objective that enforces physical consistency in the predicted cues. We also present ScaLight, a large-scale object-level dataset with systematically varied illumination and complete camera-light metadata, enabling physically consistent and controllable training. Across object and scene level benchmarks, our method achieves photometrically faithful relighting with accurate continuous control, surpassing prior diffusion and intrinsic-based baselines, including gains of up to +2.4 dB PSNR and 35% lower RMSE under controlled lighting shifts.

Instruction-based image editing models have recently achieved impressive performance, enabling complex edits to an input image from a multi-instruction prompt. However, these models apply each instruction in the prompt with a fixed strength, limiting the user's ability to precisely and continuously control the intensity of individual edits. We introduce SliderEdit, a framework for continuous image editing with fine-grained, interpretable instruction control. Given a multi-part edit instruction, SliderEdit disentangles the individual instructions and exposes each as a globally trained slider, allowing smooth adjustment of its strength. Unlike prior works that introduced slider-based attribute controls in text-to-image generation, typically requiring separate training or fine-tuning for each attribute or concept, our method learns a single set of low-rank adaptation matrices that generalize across diverse edits, attributes, and compositional instructions. This enables continuous interpolation along individual edit dimensions while preserving both spatial locality and global semantic consistency. We apply SliderEdit to state-of-the-art image editing models, including FLUX-Kontext and Qwen-Image-Edit, and observe substantial improvements in edit controllability, visual consistency, and user steerability. To the best of our knowledge, we are the first to explore and propose a framework for continuous, fine-grained instruction control in instruction-based image editing models. Our results pave the way for interactive, instruction-driven image manipulation with continuous and compositional control.

Video generative models can be regarded as world simulators due to their ability to capture dynamic, continuous changes inherent in real-world environments. These models integrate high-dimensional information across visual, temporal, spatial, and causal dimensions, enabling predictions of subjects in various status. A natural and valuable research direction is to explore whether a fully trained video generative model in high-dimensional space can effectively support lower-dimensional tasks such as controllable image generation. In this work, we propose a paradigm for video-to-image knowledge compression and task adaptation, termed Dimension-Reduction Attack (DRA-Ctrl), which utilizes the strengths of video models, including long-range context modeling and flatten full-attention, to perform various generation tasks. Specially, to address the challenging gap between continuous video frames and discrete image generation, we introduce a mixup-based transition strategy that ensures smooth adaptation. Moreover, we redesign the attention structure with a tailored masking mechanism to better align text prompts with image-level control. Experiments across diverse image generation tasks, such as subject-driven and spatially conditioned generation, show that repurposed video models outperform those trained directly on images. These results highlight the untapped potential of large-scale video generators for broader visual applications. DRA-Ctrl provides new insights into reusing resource-intensive video models and lays foundation for future unified generative models across visual modalities. The project page is https://dra-ctrl-2025.github.io/DRA-Ctrl/.

Recently, image editing based on Diffusion-in-Transformer models has undergone rapid development. However, existing editing methods often lack effective control over the degree of editing, limiting their ability to achieve more customized results. To address this limitation, we investigate the MM-Attention mechanism within the DiT model and observe that the Query and Key tokens share a bias vector that is only layer-dependent. We interpret this bias as representing the model's inherent editing behavior, while the delta between each token and its corresponding bias encodes the content-specific editing signals. Based on this insight, we propose Group Relative Attention Guidance, a simple yet effective method that reweights the delta values of different tokens to modulate the focus of the model on the input image relative to the editing instruction, enabling continuous and fine-grained control over editing intensity without any tuning. Extensive experiments conducted on existing image editing frameworks demonstrate that GRAG can be integrated with as few as four lines of code, consistently enhancing editing quality. Moreover, compared to the commonly used Classifier-Free Guidance, GRAG achieves smoother and more precise control over the degree of editing. Our code will be released at https://github.com/little-misfit/GRAG-Image-Editing.

In recent years, text-driven image editing has made significant progress. However, due to the inherent ambiguity and discreteness of natural language, color editing still faces challenges such as insufficient precision and difficulty in achieving continuous control. Although linearly interpolating the embedding vectors of different textual descriptions can guide the model to generate a sequence of images with varying colors, this approach lacks precise control over the range of color changes in the output images. Moreover, the relationship between the interpolation coefficient and the resulting image color is unknown and uncontrollable. To address these issues, we introduce a color mapping module that explicitly models the correspondence between the text embedding space and image RGB values. This module predicts the corresponding embedding vector based on a given RGB value, enabling precise color control of the generated images while maintaining semantic consistency. Users can specify a target RGB range to generate images with continuous color variations within the desired range, thereby achieving finer-grained, continuous, and controllable color editing. Experimental results demonstrate that our method performs well in terms of color continuity and controllability.

Referenced-based scene stylization that edits the appearance based on a content-aligned reference image is an emerging research area. Starting with a pretrained neural radiance field (NeRF), existing methods typically learn a novel appearance that matches the given style. Despite their effectiveness, they inherently suffer from time-consuming volume rendering, and thus are impractical for many real-time applications. In this work, we propose ReGS, which adapts 3D Gaussian Splatting (3DGS) for reference-based stylization to enable real-time stylized view synthesis. Editing the appearance of a pretrained 3DGS is challenging as it uses discrete Gaussians as 3D representation, which tightly bind appearance with geometry. Simply optimizing the appearance as prior methods do is often insufficient for modeling continuous textures in the given reference image. To address this challenge, we propose a novel texture-guided control mechanism that adaptively adjusts local responsible Gaussians to a new geometric arrangement, serving for desired texture details. The proposed process is guided by texture clues for effective appearance editing, and regularized by scene depth for preserving original geometric structure. With these novel designs, we show ReGs can produce state-of-the-art stylization results that respect the reference texture while embracing real-time rendering speed for free-view navigation.

Despite the growing success of diffusion models in continuous-valued domains (e.g., images), similar efforts for discrete domains such as text have yet to match the performance of autoregressive language models. In this work, we present SSD-LM -- a diffusion-based language model with two key design choices. First, SSD-LM is semi-autoregressive, iteratively generating blocks of text, allowing for flexible output length at decoding time while enabling local bidirectional context updates. Second, it is simplex-based, performing diffusion on the natural vocabulary space rather than a learned latent space, allowing us to incorporate classifier guidance and modular control using off-the-shelf classifiers without any adaptation. We evaluate SSD-LM on unconstrained text generation benchmarks, and show that it matches or outperforms strong autoregressive GPT-2 models across standard quality and diversity metrics, while vastly outperforming diffusion-based baselines. On controlled text generation, SSD-LM also outperforms competitive baselines, with an extra advantage in modularity.

The task of age transformation illustrates the change of an individual's appearance over time. Accurately modeling this complex transformation over an input facial image is extremely challenging as it requires making convincing, possibly large changes to facial features and head shape, while still preserving the input identity. In this work, we present an image-to-image translation method that learns to directly encode real facial images into the latent space of a pre-trained unconditional GAN (e.g., StyleGAN) subject to a given aging shift. We employ a pre-trained age regression network to explicitly guide the encoder in generating the latent codes corresponding to the desired age. In this formulation, our method approaches the continuous aging process as a regression task between the input age and desired target age, providing fine-grained control over the generated image. Moreover, unlike approaches that operate solely in the latent space using a prior on the path controlling age, our method learns a more disentangled, non-linear path. Finally, we demonstrate that the end-to-end nature of our approach, coupled with the rich semantic latent space of StyleGAN, allows for further editing of the generated images. Qualitative and quantitative evaluations show the advantages of our method compared to state-of-the-art approaches.

The controllable generation of diffusion models aims to steer the model to generate samples that optimize some given objective functions. It is desirable for a variety of applications including image generation, molecule generation, and DNA/sequence generation. Reinforcement Learning (RL) based fine-tuning of the base model is a popular approach but it can overfit the reward function while requiring significant resources. We frame controllable generation as a problem of finding a distribution that optimizes a KL-regularized objective function. We present SLCD -- Supervised Learning based Controllable Diffusion, which iteratively generates online data and trains a small classifier to guide the generation of the diffusion model. Similar to the standard classifier-guided diffusion, SLCD's key computation primitive is classification and does not involve any complex concepts from RL or control. Via a reduction to no-regret online learning analysis, we show that under KL divergence, the output from SLCD provably converges to the optimal solution of the KL-regularized objective. Further, we empirically demonstrate that SLCD can generate high quality samples with nearly the same inference time as the base model in both image generation with continuous diffusion and biological sequence generation with discrete diffusion. Our code is available at https://github.com/Owen-Oertell/slcd

We present MiniVLA-Nav v1, a simulation dataset for Language-Conditioned Object Approach (LCOA) navigation: given a short natural-language instruction, an NVIDIA Nova Carter differential-drive robot must navigate to the named object and stop within 1 m across four photorealistic Isaac Sim environments (Office, Hospital, Full Warehouse, and Warehouse with Multiple Shelves). Each of the 1,174 episodes pairs an instruction with synchronized 640x640 RGB images, metric depth maps (float32, metres), and instance segmentation masks, together with continuous (v,omega) and 7x7 tokenized expert action labels recorded at 60 Hz from a vision-based proportional controller. Trajectory diversity is ensured through three spawn-distance tiers (near: 1.5-3.5 m, mid: 3.5-7.0 m, far: global curated points; Pearson r=0.94 between spawn distance and trajectory length), 12 object categories, 18 training templates, and 12 paraphrase-OOD templates. Five evaluation splits support in-distribution accuracy, template-paraphrase robustness, and OOD object-category benchmarking. The dataset is publicly available at https://huggingface.co/datasets/alibustami/miniVLA-Nav

Diffusion models continuously push the boundary of state-of-the-art image generation, but the process is hard to control with any nuance: practice proves that textual prompts are inadequate for accurately describing image style or fine structural details (such as faces). ControlNet and IPAdapter address this shortcoming by conditioning the generative process on imagery instead, but each individual instance is limited to modeling a single conditional posterior: for practical use-cases, where multiple different posteriors are desired within the same workflow, training and using multiple adapters is cumbersome. We propose IPAdapter-Instruct, which combines natural-image conditioning with ``Instruct'' prompts to swap between interpretations for the same conditioning image: style transfer, object extraction, both, or something else still? IPAdapterInstruct efficiently learns multiple tasks with minimal loss in quality compared to dedicated per-task models.

Diffusion-based editing has rapidly evolved from curated inpainting tools into general-purpose editors spanning text-guided instruction following, mask-localized edits, drag-based geometric manipulation, exemplar transfer, and training-free composition systems. Despite strong empirical progress, the field lacks a unified treatment of core desiderata that govern practical usability: controllability (how precisely and continuously the user can specify an edit), faithfulness to user intent (semantic alignment to instructions), semantic consistency (preservation of identity and non-target content), locality (containment of changes), and perceptual quality (artifact suppression and detail retention). This paper provides a theoretical and empirical analysis of general diffusion-based image editing, connecting diverse paradigms through a common view of editing as guided transport on a learned image manifold. We first formalize editing as an operator induced by a conditional reverse-time generative process and define task-agnostic metrics capturing instruction adherence, region preservation, semantic consistency, and stability under repeated edits. We then develop theory describing edit dynamics under (i) noise-injection and denoising transport, (ii) inversion-and-edit pipelines and the propagation of inversion errors, and (iii) locality constraints implemented via masked guidance or hard constraints. Under mild Lipschitz assumptions on the learned score or flow field, we derive bounds connecting guidance strength and inversion error to measurable deviations in non-target regions, and we characterize accumulation effects under iterative multi-turn editing. Empirically, we benchmark representative paradigms.

We present a training-free framework for continuous and controllable image editing at test time for text-conditioned generative models. In contrast to prior approaches that rely on additional training or manual user intervention, we find that a simple steering in the text-embedding space is sufficient to produce smooth edit control. Given a target concept (e.g., enhancing photorealism or changing facial expression), we use a large language model to automatically construct a small set of debiased contrastive prompt pairs, from which we compute a steering vector in the generator's text-encoder space. We then add this vector directly to the input prompt representation to control generation along the desired semantic axis. To obtain a continuous control, we propose an elastic range search procedure that automatically identifies an effective interval of steering magnitudes, avoiding both under-steering (no-edit) and over-steering (changing other attributes). Adding the scaled versions of the same vector within this interval yields smooth and continuous edits. Since our method modifies only textual representations, it naturally generalizes across text-conditioned modalities, including image and video generation. To quantify the steering continuity, we introduce a new evaluation metric that measures the uniformity of semantic change across edit strengths. We compare the continuous editing behavior across methods and find that, despite its simplicity and lightweight design, our approach is comparable to training-based alternatives, outperforming other training-free methods.

Offline reinforcement learning has shown great promise in leveraging large pre-collected datasets for policy learning, allowing agents to forgo often-expensive online data collection. However, to date, offline reinforcement learning from visual observations with continuous action spaces has been relatively under-explored, and there is a lack of understanding of where the remaining challenges lie. In this paper, we seek to establish simple baselines for continuous control in the visual domain. We show that simple modifications to two state-of-the-art vision-based online reinforcement learning algorithms, DreamerV2 and DrQ-v2, suffice to outperform prior work and establish a competitive baseline. We rigorously evaluate these algorithms on both existing offline datasets and a new testbed for offline reinforcement learning from visual observations that better represents the data distributions present in real-world offline RL problems, and open-source our code and data to facilitate progress in this important domain. Finally, we present and analyze several key desiderata unique to offline RL from visual observations, including visual distractions and visually identifiable changes in dynamics.

To enhance the controllability of text-to-image diffusion models, existing efforts like ControlNet incorporated image-based conditional controls. In this paper, we reveal that existing methods still face significant challenges in generating images that align with the image conditional controls. To this end, we propose ControlNet++, a novel approach that improves controllable generation by explicitly optimizing pixel-level cycle consistency between generated images and conditional controls. Specifically, for an input conditional control, we use a pre-trained discriminative reward model to extract the corresponding condition of the generated images, and then optimize the consistency loss between the input conditional control and extracted condition. A straightforward implementation would be generating images from random noises and then calculating the consistency loss, but such an approach requires storing gradients for multiple sampling timesteps, leading to considerable time and memory costs. To address this, we introduce an efficient reward strategy that deliberately disturbs the input images by adding noise, and then uses the single-step denoised images for reward fine-tuning. This avoids the extensive costs associated with image sampling, allowing for more efficient reward fine-tuning. Extensive experiments show that ControlNet++ significantly improves controllability under various conditional controls. For example, it achieves improvements over ControlNet by 7.9% mIoU, 13.4% SSIM, and 7.6% RMSE, respectively, for segmentation mask, line-art edge, and depth conditions.

Zero-shot capability has been considered as a new revolution of deep learning, letting machines work on tasks without curated training data. As a good start and the only existing outcome of zero-shot image captioning (IC), ZeroCap abandons supervised training and sequentially searches every word in the caption using the knowledge of large-scale pretrained models. Though effective, its autoregressive generation and gradient-directed searching mechanism limit the diversity of captions and inference speed, respectively. Moreover, ZeroCap does not consider the controllability issue of zero-shot IC. To move forward, we propose a framework for Controllable Zero-shot IC, named ConZIC. The core of ConZIC is a novel sampling-based non-autoregressive language model named GibbsBERT, which can generate and continuously polish every word. Extensive quantitative and qualitative results demonstrate the superior performance of our proposed ConZIC for both zero-shot IC and controllable zero-shot IC. Especially, ConZIC achieves about 5x faster generation speed than ZeroCap, and about 1.5x higher diversity scores, with accurate generation given different control signals.

Images as an artistic medium often rely on specific camera angles and lens distortions to convey ideas or emotions; however, such precise control is missing in current text-to-image models. We propose an efficient and general solution that allows precise control over the camera when generating both photographic and artistic images. Unlike prior methods that rely on predefined shots, we rely solely on four simple extrinsic and intrinsic camera parameters, removing the need for pre-existing geometry, reference 3D objects, and multi-view data. We also present a novel dataset with more than 57,000 images, along with their text prompts and ground-truth camera parameters. Our evaluation shows precise camera control in text-to-image generation, surpassing traditional prompt engineering approaches. Our data, model, and code are publicly available at https://graphics.unizar.es/projects/PreciseCam2024.

Motion-controllable image animation is a fundamental task with a wide range of potential applications. Recent works have made progress in controlling camera or object motion via various motion representations, while they still struggle to support collaborative camera and object motion control with adaptive control granularity. To this end, we introduce 3D-aware motion representation and propose an image animation framework, called Perception-as-Control, to achieve fine-grained collaborative motion control. Specifically, we construct 3D-aware motion representation from a reference image, manipulate it based on interpreted user intentions, and perceive it from different viewpoints. In this way, camera and object motions are transformed into intuitive, consistent visual changes. Then, the proposed framework leverages the perception results as motion control signals, enabling it to support various motion-related video synthesis tasks in a unified and flexible way. Experiments demonstrate the superiority of the proposed framework. For more details and qualitative results, please refer to our project webpage: https://chen-yingjie.github.io/projects/Perception-as-Control.

Continuous image editing aims to provide slider-style control of edit strength while preserving source-image fidelity and maintaining a consistent edit direction. Existing learning-based slider methods typically rely on auxiliary modules trained with synthetic or proxy supervision. This introduces additional training overhead and couples slider behavior to the training distribution, which can reduce reliability under distribution shifts in edits or domains. We propose FlowSlider, a training-free method for continuous editing in Rectified Flow that requires no post-training. FlowSlider decomposes FlowEdit's update into (i) a fidelity term, which acts as a source-conditioned stabilizer that preserves identity and structure, and (ii) a steering term that drives semantic transition toward the target edit. Geometric analysis and empirical measurements show that these terms are approximately orthogonal, enabling stable strength control by scaling only the steering term while keeping the fidelity term unchanged. As a result, FlowSlider provides smooth and reliable control without post-training, improving continuous editing quality across diverse tasks.

Consistency Models (CMs) have showed a promise in creating visual content efficiently and with high quality. However, the way to add new conditional controls to the pretrained CMs has not been explored. In this technical report, we consider alternative strategies for adding ControlNet-like conditional control to CMs and present three significant findings. 1) ControlNet trained for diffusion models (DMs) can be directly applied to CMs for high-level semantic controls but struggles with low-level detail and realism control. 2) CMs serve as an independent class of generative models, based on which ControlNet can be trained from scratch using Consistency Training proposed by Song et al. 3) A lightweight adapter can be jointly optimized under multiple conditions through Consistency Training, allowing for the swift transfer of DMs-based ControlNet to CMs. We study these three solutions across various conditional controls, including edge, depth, human pose, low-resolution image and masked image with text-to-image latent consistency models.

Current controls over diffusion models (e.g., through text or ControlNet) for image generation fall short in recognizing abstract, continuous attributes like illumination direction or non-rigid shape change. In this paper, we present an approach for allowing users of text-to-image models to have fine-grained control of several attributes in an image. We do this by engineering special sets of input tokens that can be transformed in a continuous manner -- we call them Continuous 3D Words. These attributes can, for example, be represented as sliders and applied jointly with text prompts for fine-grained control over image generation. Given only a single mesh and a rendering engine, we show that our approach can be adopted to provide continuous user control over several 3D-aware attributes, including time-of-day illumination, bird wing orientation, dollyzoom effect, and object poses. Our method is capable of conditioning image creation with multiple Continuous 3D Words and text descriptions simultaneously while adding no overhead to the generative process. Project Page: https://ttchengab.github.io/continuous_3d_words

Video is a rich and scalable source of 3D/4D visual observations, and camera control is a key capability for video generation models to produce geometrically meaningful content. Existing approaches typically learn a mapping from camera motion to video using additional camera modules and paired data. However, such datasets are often limited in scale, diversity, and scene dynamics, which can bias the model toward a narrow output distribution and compromise the strong prior learned by the base model. These limitations motivate a different perspective on camera control. In this paper, we show that camera control need not be modeled as an implicit mapping problem, but can instead be treated as a form of geometric guidance that induces displacements across frames. Specifically, we reformulate camera control into a set of displacement fields and apply them via differentiable resampling of latent features during denoising. Our simple approach achieves effective camera control with minimal degradation across diverse quality metrics compared to fine-tuned baselines. Since our method is applicable to most video diffusion models without training, it can also serve as a probe to study the camera control capabilities of base models. Using this probe, we identify universal biases shared by representative video models, as well as disparities in their responses to camera control. Finally, we benchmark their performance in multi-view generation, offering insights into their potential for 3D/4D tasks.

To enhance controllability in text-to-image generation, ControlNet introduces image-based control signals, while ControlNet++ improves pixel-level cycle consistency between generated images and the input control signal. To avoid the prohibitive cost of back-propagating through the sampling process, ControlNet++ optimizes only low-noise timesteps (e.g., t < 200) using a single-step approximation, which not only ignores the contribution of high-noise timesteps but also introduces additional approximation errors. A straightforward alternative for optimizing controllability across all timesteps is Direct Preference Optimization (DPO), a fine-tuning method that increases model preference for more controllable images (I^{w}) over less controllable ones (I^{l}). However, due to uncertainty in generative models, it is difficult to ensure that win--lose image pairs differ only in controllability while keeping other factors, such as image quality, fixed. To address this, we propose performing preference learning over control conditions rather than generated images. Specifically, we construct winning and losing control signals, c^{w} and c^{l}, and train the model to prefer c^{w}. This method, which we term Condition Preference Optimization (CPO), eliminates confounding factors and yields a low-variance training objective. Our approach theoretically exhibits lower contrastive loss variance than DPO and empirically achieves superior results. Moreover, CPO requires less computation and storage for dataset curation. Extensive experiments show that CPO significantly improves controllability over the state-of-the-art ControlNet++ across multiple control types: over 10% error rate reduction in segmentation, 70--80% in human pose, and consistent 2--5% reductions in edge and depth maps.

The field of image synthesis has made tremendous strides forward in the last years. Besides defining the desired output image with text-prompts, an intuitive approach is to additionally use spatial guidance in form of an image, such as a depth map. For this, a recent and highly popular approach is to use a controlling network, such as ControlNet, in combination with a pre-trained image generation model, such as Stable Diffusion. When evaluating the design of existing controlling networks, we observe that they all suffer from the same problem of a delay in information flowing between the generation and controlling process. This, in turn, means that the controlling network must have generative capabilities. In this work we propose a new controlling architecture, called ControlNet-XS, which does not suffer from this problem, and hence can focus on the given task of learning to control. In contrast to ControlNet, our model needs only a fraction of parameters, and hence is about twice as fast during inference and training time. Furthermore, the generated images are of higher quality and the control is of higher fidelity. All code and pre-trained models will be made publicly available.

To enhance the controllability of text-to-image diffusion models, current ControlNet-like models have explored various control signals to dictate image attributes. However, existing methods either handle conditions inefficiently or use a fixed number of conditions, which does not fully address the complexity of multiple conditions and their potential conflicts. This underscores the need for innovative approaches to manage multiple conditions effectively for more reliable and detailed image synthesis. To address this issue, we propose a novel framework, DynamicControl, which supports dynamic combinations of diverse control signals, allowing adaptive selection of different numbers and types of conditions. Our approach begins with a double-cycle controller that generates an initial real score sorting for all input conditions by leveraging pre-trained conditional generation models and discriminative models. This controller evaluates the similarity between extracted conditions and input conditions, as well as the pixel-level similarity with the source image. Then, we integrate a Multimodal Large Language Model (MLLM) to build an efficient condition evaluator. This evaluator optimizes the ordering of conditions based on the double-cycle controller's score ranking. Our method jointly optimizes MLLMs and diffusion models, utilizing MLLMs' reasoning capabilities to facilitate multi-condition text-to-image (T2I) tasks. The final sorted conditions are fed into a parallel multi-control adapter, which learns feature maps from dynamic visual conditions and integrates them to modulate ControlNet, thereby enhancing control over generated images. Through both quantitative and qualitative comparisons, DynamicControl demonstrates its superiority over existing methods in terms of controllability, generation quality and composability under various conditional controls.

This study aims to achieve more precise and versatile object control in image-to-video (I2V) generation. Current methods typically represent the spatial movement of target objects with 2D trajectories, which often fail to capture user intention and frequently produce unnatural results. To enhance control, we present ObjCtrl-2.5D, a training-free object control approach that uses a 3D trajectory, extended from a 2D trajectory with depth information, as a control signal. By modeling object movement as camera movement, ObjCtrl-2.5D represents the 3D trajectory as a sequence of camera poses, enabling object motion control using an existing camera motion control I2V generation model (CMC-I2V) without training. To adapt the CMC-I2V model originally designed for global motion control to handle local object motion, we introduce a module to isolate the target object from the background, enabling independent local control. In addition, we devise an effective way to achieve more accurate object control by sharing low-frequency warped latent within the object's region across frames. Extensive experiments demonstrate that ObjCtrl-2.5D significantly improves object control accuracy compared to training-free methods and offers more diverse control capabilities than training-based approaches using 2D trajectories, enabling complex effects like object rotation. Code and results are available at https://wzhouxiff.github.io/projects/ObjCtrl-2.5D/.

ControlNet has enabled detailed spatial control in text-to-image diffusion models by incorporating additional visual conditions such as depth or edge maps. However, its effectiveness heavily depends on the availability of visual conditions that are precisely aligned with the generation goal specified by text prompt-a requirement that often fails in practice, especially for uncommon or imaginative scenes. For example, generating an image of a cat cooking in a specific pose may be infeasible due to the lack of suitable visual conditions. In contrast, structurally similar cues can often be found in more common settings-for instance, poses of humans cooking are widely available and can serve as rough visual guides. Unfortunately, existing ControlNet models struggle to use such loosely aligned visual conditions, often resulting in low text fidelity or visual artifacts. To address this limitation, we propose SemanticControl, a training-free method for effectively leveraging misaligned but semantically relevant visual conditions. Our approach adaptively suppresses the influence of the visual condition where it conflicts with the prompt, while strengthening guidance from the text. The key idea is to first run an auxiliary denoising process using a surrogate prompt aligned with the visual condition (e.g., "a human playing guitar" for a human pose condition) to extract informative attention masks, and then utilize these masks during the denoising of the actual target prompt (e.g., cat playing guitar). Experimental results demonstrate that our method improves performance under loosely aligned conditions across various conditions, including depth maps, edge maps, and human skeletons, outperforming existing baselines. Our code is available at https://mung3477.github.io/semantic-control.

Controlling video and audio generation requires diverse modalities, from depth and pose to camera trajectories and audio transformations, yet existing approaches either train a single monolithic model for a fixed set of controls or introduce costly architectural changes for each new modality. We introduce AVControl, a lightweight, extendable framework built on LTX-2, a joint audio-visual foundation model, where each control modality is trained as a separate LoRA on a parallel canvas that provides the reference signal as additional tokens in the attention layers, requiring no architectural changes beyond the LoRA adapters themselves. We show that simply extending image-based in-context methods to video fails for structural control, and that our parallel canvas approach resolves this. On the VACE Benchmark, we outperform all evaluated baselines on depth- and pose-guided generation, inpainting, and outpainting, and show competitive results on camera control and audio-visual benchmarks. Our framework supports a diverse set of independently trained modalities: spatially-aligned controls such as depth, pose, and edges, camera trajectory with intrinsics, sparse motion control, video editing, and, to our knowledge, the first modular audio-visual controls for a joint generation model. Our method is both compute- and data-efficient: each modality requires only a small dataset and converges within a few hundred to a few thousand training steps, a fraction of the budget of monolithic alternatives. We publicly release our code and trained LoRA checkpoints.

This paper shows that self-supervised visual pre-training from real-world images is effective for learning motor control tasks from pixels. We first train the visual representations by masked modeling of natural images. We then freeze the visual encoder and train neural network controllers on top with reinforcement learning. We do not perform any task-specific fine-tuning of the encoder; the same visual representations are used for all motor control tasks. To the best of our knowledge, this is the first self-supervised model to exploit real-world images at scale for motor control. To accelerate progress in learning from pixels, we contribute a benchmark suite of hand-designed tasks varying in movements, scenes, and robots. Without relying on labels, state-estimation, or expert demonstrations, we consistently outperform supervised encoders by up to 80% absolute success rate, sometimes even matching the oracle state performance. We also find that in-the-wild images, e.g., from YouTube or Egocentric videos, lead to better visual representations for various manipulation tasks than ImageNet images.

Diffusion models have demonstrated remarkable and robust abilities in both image and video generation. To achieve greater control over generated results, researchers introduce additional architectures, such as ControlNet, Adapters and ReferenceNet, to integrate conditioning controls. However, current controllable generation methods often require substantial additional computational resources, especially for video generation, and face challenges in training or exhibit weak control. In this paper, we propose ControlNeXt: a powerful and efficient method for controllable image and video generation. We first design a more straightforward and efficient architecture, replacing heavy additional branches with minimal additional cost compared to the base model. Such a concise structure also allows our method to seamlessly integrate with other LoRA weights, enabling style alteration without the need for additional training. As for training, we reduce up to 90% of learnable parameters compared to the alternatives. Furthermore, we propose another method called Cross Normalization (CN) as a replacement for Zero-Convolution' to achieve fast and stable training convergence. We have conducted various experiments with different base models across images and videos, demonstrating the robustness of our method.

Recent advances in image editing, driven by image diffusion models, have shown remarkable progress. However, significant challenges remain, as these models often struggle to follow complex edit instructions accurately and frequently compromise fidelity by altering key elements of the original image. Simultaneously, video generation has made remarkable strides, with models that effectively function as consistent and continuous world simulators. In this paper, we propose merging these two fields by utilizing image-to-video models for image editing. We reformulate image editing as a temporal process, using pretrained video models to create smooth transitions from the original image to the desired edit. This approach traverses the image manifold continuously, ensuring consistent edits while preserving the original image's key aspects. Our approach achieves state-of-the-art results on text-based image editing, demonstrating significant improvements in both edit accuracy and image preservation.

Imaging systems consist of cameras to encode visual information about the world and perception models to interpret this encoding. Cameras contain (1) illumination sources, (2) optical elements, and (3) sensors, while perception models use (4) algorithms. Directly searching over all combinations of these four building blocks to design an imaging system is challenging due to the size of the search space. Moreover, cameras and perception models are often designed independently, leading to sub-optimal task performance. In this paper, we formulate these four building blocks of imaging systems as a context-free grammar (CFG), which can be automatically searched over with a learned camera designer to jointly optimize the imaging system with task-specific perception models. By transforming the CFG to a state-action space, we then show how the camera designer can be implemented with reinforcement learning to intelligently search over the combinatorial space of possible imaging system configurations. We demonstrate our approach on two tasks, depth estimation and camera rig design for autonomous vehicles, showing that our method yields rigs that outperform industry-wide standards. We believe that our proposed approach is an important step towards automating imaging system design.

Recently introduced ControlNet has the ability to steer the text-driven image generation process with geometric input such as human 2D pose, or edge features. While ControlNet provides control over the geometric form of the instances in the generated image, it lacks the capability to dictate the visual appearance of each instance. We present FineControlNet to provide fine control over each instance's appearance while maintaining the precise pose control capability. Specifically, we develop and demonstrate FineControlNet with geometric control via human pose images and appearance control via instance-level text prompts. The spatial alignment of instance-specific text prompts and 2D poses in latent space enables the fine control capabilities of FineControlNet. We evaluate the performance of FineControlNet with rigorous comparison against state-of-the-art pose-conditioned text-to-image diffusion models. FineControlNet achieves superior performance in generating images that follow the user-provided instance-specific text prompts and poses compared with existing methods. Project webpage: https://samsunglabs.github.io/FineControlNet-project-page

End-to-end reinforcement learning on images showed significant progress in the recent years. Data-based approach leverage data augmentation and domain randomization while representation learning methods use auxiliary losses to learn task-relevant features. Yet, reinforcement still struggles in visually diverse environments full of distractions and spurious noise. In this work, we tackle the problem of robust visual control at its core and present VIBR (View-Invariant Bellman Residuals), a method that combines multi-view training and invariant prediction to reduce out-of-distribution (OOD) generalization gap for RL based visuomotor control. Our model-free approach improve baselines performances without the need of additional representation learning objectives and with limited additional computational cost. We show that VIBR outperforms existing methods on complex visuo-motor control environment with high visual perturbation. Our approach achieves state-of the-art results on the Distracting Control Suite benchmark, a challenging benchmark still not solved by current methods, where we evaluate the robustness to a number of visual perturbators, as well as OOD generalization and extrapolation capabilities.

We propose a unified framework for motion control in video generation that seamlessly integrates camera movement, object-level translation, and fine-grained local motion using trajectory-based inputs. In contrast to prior methods that address these motion types through separate modules or task-specific designs, our approach offers a cohesive solution by projecting user-defined trajectories into the latent space of pre-trained image-to-video generation models via a lightweight motion injector. Users can specify keypoints and their motion paths to control localized deformations, entire object motion, virtual camera dynamics, or combinations of these. The injected trajectory signals guide the generative process to produce temporally consistent and semantically aligned motion sequences. Our framework demonstrates superior performance across multiple video motion control tasks, including stylized motion effects (e.g., motion brushes), dynamic viewpoint changes, and precise local motion manipulation. Experiments show that our method provides significantly better controllability and visual quality compared to prior approaches and commercial solutions, while remaining broadly compatible with various state-of-the-art video generation backbones. Project page: https://anytraj.github.io/.

Camera-controllable image editing aims to synthesize novel views of a given scene under varying camera poses while strictly preserving cross-view geometric consistency. However, existing methods typically rely on fragmented geometric guidance, such as only injecting point clouds at the representation level despite models containing multiple levels, and are mainly based on image diffusion models that operate on discrete view mappings. These two limitations jointly lead to geometric drift and structural degradation under continuous camera motion. We observe that while leveraging video models provides continuous viewpoint priors for camera-controllable image editing, they still struggle to form stable geometric understanding if geometric guidance remains fragmented. To systematically address this, we inject unified geometric guidance across three levels that jointly determine the generative output: representation, architecture, and loss function. To this end, we propose UniGeo, a novel camera-controllable editing framework. Specifically, at the representation level, UniGeo incorporates a frame-decoupled geometric reference injection mechanism to provide robust cross-view geometry context. At the architecture level, it introduces geometric anchor attention to align multi-view features. At the loss function level, it proposes a trajectory-endpoint geometric supervision strategy to explicitly reinforce the structural fidelity of target views. Comprehensive experiments across multiple public benchmarks, encompassing both extensive and limited camera motion settings, demonstrate that UniGeo significantly outperforms existing methods in both visual quality and geometric consistency.

The field of controllable image generation has seen significant advancements, with various architectures improving generation layout consistency with control signals. However, contemporary methods still face challenges in bridging the semantic gap between input text prompts with sparse semantics and the target images, often over-relying on low-level control signals to infer regional details. To address this challenge, we propose ControlThinker, a novel framework that employs a "comprehend-then-generate" paradigm. Firstly, by incentivizing the visual reasoning capability of a MLLM, latent semantics from control images are mined to enrich text prompts. This enriched semantic understanding then seamlessly aids in image generation without the need for additional complex modifications. To further tackle the uncertainty arising from the ambiguity of control images, we encourage broader exploration of reasoning trajectories and select the optimal one using a metric-based output reward model (ORM). Extensive experimental results demonstrate that ControlThinker effectively mitigates the semantic gap between raw text prompts and target images, resulting in improved visual quality and semantic consistency across a wide range of benchmarks. The code and models are available at https://github.com/Maplebb/ControlThinker.

In recent years there have been remarkable breakthroughs in image-to-video generation. However, the 3D consistency and camera controllability of generated frames have remained unsolved. Recent studies have attempted to incorporate camera control into the generation process, but their results are often limited to simple trajectories or lack the ability to generate consistent videos from multiple distinct camera paths for the same scene. To address these limitations, we introduce Cavia, a novel framework for camera-controllable, multi-view video generation, capable of converting an input image into multiple spatiotemporally consistent videos. Our framework extends the spatial and temporal attention modules into view-integrated attention modules, improving both viewpoint and temporal consistency. This flexible design allows for joint training with diverse curated data sources, including scene-level static videos, object-level synthetic multi-view dynamic videos, and real-world monocular dynamic videos. To our best knowledge, Cavia is the first of its kind that allows the user to precisely specify camera motion while obtaining object motion. Extensive experiments demonstrate that Cavia surpasses state-of-the-art methods in terms of geometric consistency and perceptual quality. Project Page: https://ir1d.github.io/Cavia/

Recent years have seen the emergence of pre-trained representations as a powerful abstraction for AI applications in computer vision, natural language, and speech. However, policy learning for control is still dominated by a tabula-rasa learning paradigm, with visuo-motor policies often trained from scratch using data from deployment environments. In this context, we revisit and study the role of pre-trained visual representations for control, and in particular representations trained on large-scale computer vision datasets. Through extensive empirical evaluation in diverse control domains (Habitat, DeepMind Control, Adroit, Franka Kitchen), we isolate and study the importance of different representation training methods, data augmentations, and feature hierarchies. Overall, we find that pre-trained visual representations can be competitive or even better than ground-truth state representations to train control policies. This is in spite of using only out-of-domain data from standard vision datasets, without any in-domain data from the deployment environments. Source code and more at https://sites.google.com/view/pvr-control.

Object-level manipulation, relocating or reorienting objects in images or videos while preserving scene realism, is central to film post-production, AR, and creative editing. Yet existing methods struggle to jointly achieve three core goals: background preservation, geometric consistency under viewpoint shifts, and user-controllable transformations. Geometry-based approaches offer precise control but require explicit 3D reconstruction and generalize poorly; diffusion-based methods generalize better but lack fine-grained geometric control. We present Ctrl&Shift, an end-to-end diffusion framework to achieve geometry-consistent object manipulation without explicit 3D representations. Our key insight is to decompose manipulation into two stages, object removal and reference-guided inpainting under explicit camera pose control, and encode both within a unified diffusion process. To enable precise, disentangled control, we design a multi-task, multi-stage training strategy that separates background, identity, and pose signals across tasks. To improve generalization, we introduce a scalable real-world dataset construction pipeline that generates paired image and video samples with estimated relative camera poses. Extensive experiments demonstrate that Ctrl&Shift achieves state-of-the-art results in fidelity, viewpoint consistency, and controllability. To our knowledge, this is the first framework to unify fine-grained geometric control and real-world generalization for object manipulation, without relying on any explicit 3D modeling.

Filmmaking and animation production often require sophisticated techniques for coordinating camera transitions and object movements, typically involving labor-intensive real-world capturing. Despite advancements in generative AI for video creation, achieving precise control over motion for interactive video asset generation remains challenging. To this end, we propose Image Conductor, a method for precise control of camera transitions and object movements to generate video assets from a single image. An well-cultivated training strategy is proposed to separate distinct camera and object motion by camera LoRA weights and object LoRA weights. To further address cinematographic variations from ill-posed trajectories, we introduce a camera-free guidance technique during inference, enhancing object movements while eliminating camera transitions. Additionally, we develop a trajectory-oriented video motion data curation pipeline for training. Quantitative and qualitative experiments demonstrate our method's precision and fine-grained control in generating motion-controllable videos from images, advancing the practical application of interactive video synthesis. Project webpage available at https://liyaowei-stu.github.io/project/ImageConductor/

We present Wan-Move, a simple and scalable framework that brings motion control to video generative models. Existing motion-controllable methods typically suffer from coarse control granularity and limited scalability, leaving their outputs insufficient for practical use. We narrow this gap by achieving precise and high-quality motion control. Our core idea is to directly make the original condition features motion-aware for guiding video synthesis. To this end, we first represent object motions with dense point trajectories, allowing fine-grained control over the scene. We then project these trajectories into latent space and propagate the first frame's features along each trajectory, producing an aligned spatiotemporal feature map that tells how each scene element should move. This feature map serves as the updated latent condition, which is naturally integrated into the off-the-shelf image-to-video model, e.g., Wan-I2V-14B, as motion guidance without any architecture change. It removes the need for auxiliary motion encoders and makes fine-tuning base models easily scalable. Through scaled training, Wan-Move generates 5-second, 480p videos whose motion controllability rivals Kling 1.5 Pro's commercial Motion Brush, as indicated by user studies. To support comprehensive evaluation, we further design MoveBench, a rigorously curated benchmark featuring diverse content categories and hybrid-verified annotations. It is distinguished by larger data volume, longer video durations, and high-quality motion annotations. Extensive experiments on MoveBench and the public dataset consistently show Wan-Move's superior motion quality. Code, models, and benchmark data are made publicly available.

Animating images with interactive motion control has garnered popularity for image-to-video (I2V) generation. Modern approaches typically rely on large Gaussian kernels to extend motion trajectories as condition without explicitly defining movement region, leading to coarse motion control and failing to disentangle object and camera moving. To alleviate these, we present MotionPro, a precise motion controller that novelly leverages region-wise trajectory and motion mask to regulate fine-grained motion synthesis and identify target motion category (i.e., object or camera moving), respectively. Technically, MotionPro first estimates the flow maps on each training video via a tracking model, and then samples the region-wise trajectories to simulate inference scenario. Instead of extending flow through large Gaussian kernels, our region-wise trajectory approach enables more precise control by directly utilizing trajectories within local regions, thereby effectively characterizing fine-grained movements. A motion mask is simultaneously derived from the predicted flow maps to capture the holistic motion dynamics of the movement regions. To pursue natural motion control, MotionPro further strengthens video denoising by incorporating both region-wise trajectories and motion mask through feature modulation. More remarkably, we meticulously construct a benchmark, i.e., MC-Bench, with 1.1K user-annotated image-trajectory pairs, for the evaluation of both fine-grained and object-level I2V motion control. Extensive experiments conducted on WebVid-10M and MC-Bench demonstrate the effectiveness of MotionPro. Please refer to our project page for more results: https://zhw-zhang.github.io/MotionPro-page/.

Recent advancements in video generation have been greatly driven by video diffusion models, with camera motion control emerging as a crucial challenge in creating view-customized visual content. This paper introduces trajectory attention, a novel approach that performs attention along available pixel trajectories for fine-grained camera motion control. Unlike existing methods that often yield imprecise outputs or neglect temporal correlations, our approach possesses a stronger inductive bias that seamlessly injects trajectory information into the video generation process. Importantly, our approach models trajectory attention as an auxiliary branch alongside traditional temporal attention. This design enables the original temporal attention and the trajectory attention to work in synergy, ensuring both precise motion control and new content generation capability, which is critical when the trajectory is only partially available. Experiments on camera motion control for images and videos demonstrate significant improvements in precision and long-range consistency while maintaining high-quality generation. Furthermore, we show that our approach can be extended to other video motion control tasks, such as first-frame-guided video editing, where it excels in maintaining content consistency over large spatial and temporal ranges.

Video generation technologies are developing rapidly and have broad potential applications. Among these technologies, camera control is crucial for generating professional-quality videos that accurately meet user expectations. However, existing camera control methods still suffer from several limitations, including control precision and the neglect of the control for subject motion dynamics. In this work, we propose I2VControl-Camera, a novel camera control method that significantly enhances controllability while providing adjustability over the strength of subject motion. To improve control precision, we employ point trajectory in the camera coordinate system instead of only extrinsic matrix information as our control signal. To accurately control and adjust the strength of subject motion, we explicitly model the higher-order components of the video trajectory expansion, not merely the linear terms, and design an operator that effectively represents the motion strength. We use an adapter architecture that is independent of the base model structure. Experiments on static and dynamic scenes show that our framework outperformances previous methods both quantitatively and qualitatively. The project page is: https://wanquanf.github.io/I2VControlCamera .

Preserving first-frame identity while ensuring precise motion control is a fundamental challenge in human image animation. The Image-to-Motion Binding process of the dominant Reference-to-Video (R2V) paradigm overlooks critical spatio-temporal misalignments common in real-world applications, leading to failures such as identity drift and visual artifacts. We introduce SteadyDancer, an Image-to-Video (I2V) paradigm-based framework that achieves harmonized and coherent animation and is the first to ensure first-frame preservation robustly. Firstly, we propose a Condition-Reconciliation Mechanism to harmonize the two conflicting conditions, enabling precise control without sacrificing fidelity. Secondly, we design Synergistic Pose Modulation Modules to generate an adaptive and coherent pose representation that is highly compatible with the reference image. Finally, we employ a Staged Decoupled-Objective Training Pipeline that hierarchically optimizes the model for motion fidelity, visual quality, and temporal coherence. Experiments demonstrate that SteadyDancer achieves state-of-the-art performance in both appearance fidelity and motion control, while requiring significantly fewer training resources than comparable methods.

Robots have to face challenging perceptual settings, including changes in viewpoint, lighting, and background. Current simulated reinforcement learning (RL) benchmarks such as DM Control provide visual input without such complexity, which limits the transfer of well-performing methods to the real world. In this paper, we extend DM Control with three kinds of visual distractions (variations in background, color, and camera pose) to produce a new challenging benchmark for vision-based control, and we analyze state of the art RL algorithms in these settings. Our experiments show that current RL methods for vision-based control perform poorly under distractions, and that their performance decreases with increasing distraction complexity, showing that new methods are needed to cope with the visual complexities of the real world. We also find that combinations of multiple distraction types are more difficult than a mere combination of their individual effects.

Recent advances in autoregressive (AR) models have demonstrated their potential to rival diffusion models in image synthesis. However, for complex spatially-conditioned generation, current AR approaches rely on fine-tuning the pre-trained model, leading to significant training costs. In this paper, we propose the Efficient Control Model (ECM), a plug-and-play framework featuring a lightweight control module that introduces control signals via a distributed architecture. This architecture consists of context-aware attention layers that refine conditional features using real-time generated tokens, and a shared gated feed-forward network (FFN) designed to maximize the utilization of its limited capacity and ensure coherent control feature learning. Furthermore, recognizing the critical role of early-stage generation in determining semantic structure, we introduce an early-centric sampling strategy that prioritizes learning early control sequences. This approach reduces computational cost by lowering the number of training tokens per iteration, while a complementary temperature scheduling during inference compensates for the resulting insufficient training of late-stage tokens. Extensive experiments on scale-based AR models validate that our method achieves high-fidelity and diverse control over image generation, surpassing existing baselines while significantly improving both training and inference efficiency.

Recently, image-to-video (I2V) diffusion models have demonstrated impressive scene understanding and generative quality, incorporating image conditions to guide generation. However, these models primarily animate static images without extending beyond their provided context. Introducing additional constraints, such as camera trajectories, can enhance diversity but often degrades visual quality, limiting their applicability for tasks requiring faithful scene representation. We propose CamContextI2V, an I2V model that integrates multiple image conditions with 3D constraints alongside camera control to enrich both global semantics and fine-grained visual details. This enables more coherent and context-aware video generation. Moreover, we motivate the necessity of temporal awareness for an effective context representation. Our comprehensive study on the RealEstate10K dataset demonstrates improvements in visual quality and camera controllability. We make our code and models publicly available at: https://github.com/LDenninger/CamContextI2V.

Camera control is crucial for generating expressive and cinematic videos. Existing methods rely on explicit sequences of camera parameters as control conditions, which can be cumbersome for users to construct, particularly for intricate camera movements. To provide a more intuitive camera control method, we propose CamCloneMaster, a framework that enables users to replicate camera movements from reference videos without requiring camera parameters or test-time fine-tuning. CamCloneMaster seamlessly supports reference-based camera control for both Image-to-Video and Video-to-Video tasks within a unified framework. Furthermore, we present the Camera Clone Dataset, a large-scale synthetic dataset designed for camera clone learning, encompassing diverse scenes, subjects, and camera movements. Extensive experiments and user studies demonstrate that CamCloneMaster outperforms existing methods in terms of both camera controllability and visual quality.

We introduce a method for the generation of images from an input scene graph. The method separates between a layout embedding and an appearance embedding. The dual embedding leads to generated images that better match the scene graph, have higher visual quality, and support more complex scene graphs. In addition, the embedding scheme supports multiple and diverse output images per scene graph, which can be further controlled by the user. We demonstrate two modes of per-object control: (i) importing elements from other images, and (ii) navigation in the object space, by selecting an appearance archetype. Our code is publicly available at https://www.github.com/ashual/scene_generation

Modern image editing models produce realistic results but struggle with abstract, multi step instructions (e.g., ``make this advertisement more vegetarian-friendly''). Prior agent based methods decompose such tasks but rely on handcrafted pipelines or teacher imitation, limiting flexibility and decoupling learning from actual editing outcomes. We propose an experiential framework for long-horizon image editing, where a planner generates structured atomic decompositions and an orchestrator selects tools and regions to execute each step. A vision language judge provides outcome-based rewards for instruction adherence and visual quality. The orchestrator is trained to maximize these rewards, and successful trajectories are used to refine the planner. By tightly coupling planning with reward driven execution, our approach yields more coherent and reliable edits than single-step or rule-based multistep baselines.

Real-world videos naturally portray complex interactions among distinct physical objects, effectively forming dynamic compositions of visual elements. However, most current video generation models synthesize scenes holistically and therefore lack mechanisms for explicit compositional manipulation. To address this limitation, we propose HECTOR, a generative pipeline that enables fine-grained compositional control. In contrast to prior methods,HECTOR supports hybrid reference conditioning, allowing generation to be simultaneously guided by static images and/or dynamic videos. Moreover, users can explicitly specify the trajectory of each referenced element, precisely controlling its location, scale, and speed (see Figure1). This design allows the model to synthesize coherent videos that satisfy complex spatiotemporal constraints while preserving high-fidelity adherence to references. Extensive experiments demonstrate that HECTOR achieves superior visual quality, stronger reference preservation, and improved motion controllability compared with existing approaches.

We propose PostCam, a framework for novel-view video generation that enables post-capture editing of camera trajectories in dynamic scenes. We find that existing video recapture methods suffer from suboptimal camera motion injection strategies; such suboptimal designs not only limit camera control precision but also result in generated videos that fail to preserve fine visual details from the source video. To achieve more accurate and flexible motion manipulation, PostCam introduces a query-shared cross-attention module. It integrates two distinct forms of control signals: the 6-DoF camera poses and the 2D rendered video frames. By fusing them into a unified representation within a shared feature space, our model can extract underlying motion cues, which enhances both control precision and generation quality. Furthermore, we adopt a two-stage training strategy: the model first learns coarse camera control from pose inputs, and then incorporates visual information to refine motion accuracy and enhance visual fidelity. Experiments on both real-world and synthetic datasets demonstrate that PostCam outperforms state-of-the-art methods by over 20% in camera control precision and view consistency, while achieving the highest video generation quality. Our project webpage is publicly available at: https://cccqaq.github.io/PostCam.github.io/

Controllable human image animation aims to generate videos from reference images using driving videos. Due to the limited control signals provided by sparse guidance (e.g., skeleton pose), recent works have attempted to introduce additional dense conditions (e.g., depth map) to ensure motion alignment. However, such strict dense guidance impairs the quality of the generated video when the body shape of the reference character differs significantly from that of the driving video. In this paper, we present DisPose to mine more generalizable and effective control signals without additional dense input, which disentangles the sparse skeleton pose in human image animation into motion field guidance and keypoint correspondence. Specifically, we generate a dense motion field from a sparse motion field and the reference image, which provides region-level dense guidance while maintaining the generalization of the sparse pose control. We also extract diffusion features corresponding to pose keypoints from the reference image, and then these point features are transferred to the target pose to provide distinct identity information. To seamlessly integrate into existing models, we propose a plug-and-play hybrid ControlNet that improves the quality and consistency of generated videos while freezing the existing model parameters. Extensive qualitative and quantitative experiments demonstrate the superiority of DisPose compared to current methods. Code: https://github.com/lihxxx/DisPose{https://github.com/lihxxx/DisPose}.

We propose a new simulator, training approach, and policy architecture, collectively called SOUS VIDE, for end-to-end visual drone navigation. Our trained policies exhibit zero-shot sim-to-real transfer with robust real-world performance using only onboard perception and computation. Our simulator, called FiGS, couples a computationally simple drone dynamics model with a high visual fidelity Gaussian Splatting scene reconstruction. FiGS can quickly simulate drone flights producing photorealistic images at up to 130 fps. We use FiGS to collect 100k-300k image/state-action pairs from an expert MPC with privileged state and dynamics information, randomized over dynamics parameters and spatial disturbances. We then distill this expert MPC into an end-to-end visuomotor policy with a lightweight neural architecture, called SV-Net. SV-Net processes color image, optical flow and IMU data streams into low-level thrust and body rate commands at 20 Hz onboard a drone. Crucially, SV-Net includes a learned module for low-level control that adapts at runtime to variations in drone dynamics. In a campaign of 105 hardware experiments, we show SOUS VIDE policies to be robust to 30% mass variations, 40 m/s wind gusts, 60% changes in ambient brightness, shifting or removing objects from the scene, and people moving aggressively through the drone's visual field. Code, data, and experiment videos can be found on our project page: https://stanfordmsl.github.io/SousVide/.

We present Vivid-VR, a DiT-based generative video restoration method built upon an advanced T2V foundation model, where ControlNet is leveraged to control the generation process, ensuring content consistency. However, conventional fine-tuning of such controllable pipelines frequently suffers from distribution drift due to limitations in imperfect multimodal alignment, resulting in compromised texture realism and temporal coherence. To tackle this challenge, we propose a concept distillation training strategy that utilizes the pretrained T2V model to synthesize training samples with embedded textual concepts, thereby distilling its conceptual understanding to preserve texture and temporal quality. To enhance generation controllability, we redesign the control architecture with two key components: 1) a control feature projector that filters degradation artifacts from input video latents to minimize their propagation through the generation pipeline, and 2) a new ControlNet connector employing a dual-branch design. This connector synergistically combines MLP-based feature mapping with cross-attention mechanism for dynamic control feature retrieval, enabling both content preservation and adaptive control signal modulation. Extensive experiments show that Vivid-VR performs favorably against existing approaches on both synthetic and real-world benchmarks, as well as AIGC videos, achieving impressive texture realism, visual vividness, and temporal consistency. The codes and checkpoints are publicly available at https://github.com/csbhr/Vivid-VR.

Recent video diffusion models have made remarkable strides in visual quality, yet precise, fine-grained control remains a key bottleneck that limits practical customizability for content creation. For AI video creators, three forms of control are crucial: (i) scene composition, (ii) multi-view consistent subject customization, and (iii) camera-pose or object-motion adjustment. Existing methods typically handle these dimensions in isolation, with limited support for multi-view subject synthesis and identity preservation under arbitrary pose changes. This lack of a unified architecture makes it difficult to support versatile, jointly controllable video. We introduce Tri-Prompting, a unified framework and two-stage training paradigm that integrates scene composition, multi-view subject consistency, and motion control. Our approach leverages a dual-condition motion module driven by 3D tracking points for background scenes and downsampled RGB cues for foreground subjects. To ensure a balance between controllability and visual realism, we further propose an inference ControlNet scale schedule. Tri-Prompting supports novel workflows, including 3D-aware subject insertion into any scenes and manipulation of existing subjects in an image. Experimental results demonstrate that Tri-Prompting significantly outperforms specialized baselines such as Phantom and DaS in multi-view subject identity, 3D consistency, and motion accuracy.

Domain shift remains a persistent challenge in deep-learning-based computer vision, often requiring extensive model modifications or large labeled datasets to address. Inspired by human visual perception, which adjusts input quality through corrective lenses rather than over-training the brain, we propose Lens, a novel camera sensor control method that enhances model performance by capturing high-quality images from the model's perspective rather than relying on traditional human-centric sensor control. Lens is lightweight and adapts sensor parameters to specific models and scenes in real-time. At its core, Lens utilizes VisiT, a training-free, model-specific quality indicator that evaluates individual unlabeled samples at test time using confidence scores without additional adaptation costs. To validate Lens, we introduce ImageNet-ES Diverse, a new benchmark dataset capturing natural perturbations from varying sensor and lighting conditions. Extensive experiments on both ImageNet-ES and our new ImageNet-ES Diverse show that Lens significantly improves model accuracy across various baseline schemes for sensor control and model modification while maintaining low latency in image captures. Lens effectively compensates for large model size differences and integrates synergistically with model improvement techniques. Our code and dataset are available at github.com/Edw2n/Lens.git.

In the field of image processing, applying intricate semantic modifications within existing images remains an enduring challenge. This paper introduces a pioneering framework that integrates viewpoint information to enhance the control of image editing tasks, especially for interior design scenes. By surveying existing object editing methodologies, we distill three essential criteria -- consistency, controllability, and harmony -- that should be met for an image editing method. In contrast to previous approaches, our framework takes the lead in satisfying all three requirements for addressing the challenge of image synthesis. Through comprehensive experiments, encompassing both quantitative assessments and qualitative comparisons with contemporary state-of-the-art methods, we present compelling evidence of our framework's superior performance across multiple dimensions. This work establishes a promising avenue for advancing image synthesis techniques and empowering precise object modifications while preserving the visual coherence of the entire composition.

Existing text-guided image editing methods primarily rely on end-to-end pixel-level inpainting paradigm. Despite its success in simple scenarios, this paradigm still significantly struggles with compositional editing tasks that require precise local control and complex multi-object spatial reasoning. This paradigm is severely limited by 1) the implicit coupling of planning and execution, 2) the lack of object-level control granularity, and 3) the reliance on unstructured, pixel-centric modeling. To address these limitations, we propose I2E, a novel "Decompose-then-Action" paradigm that revisits image editing as an actionable interaction process within a structured environment. I2E utilizes a Decomposer to transform unstructured images into discrete, manipulable object layers and then introduces a physics-aware Vision-Language-Action Agent to parse complex instructions into a series of atomic actions via Chain-of-Thought reasoning. Further, we also construct I2E-Bench, a benchmark designed for multi-instance spatial reasoning and high-precision editing. Experimental results on I2E-Bench and multiple public benchmarks demonstrate that I2E significantly outperforms state-of-the-art methods in handling complex compositional instructions, maintaining physical plausibility, and ensuring multi-turn editing stability.

Controlling the movements of dynamic objects and the camera within generated videos is a meaningful yet challenging task. Due to the lack of datasets with comprehensive motion annotations, existing algorithms can not simultaneously control the motions of both camera and objects, resulting in limited controllability over generated contents. To address this issue and facilitate the research in this field, we introduce a Synthetic Dataset for Free-Form Motion Control (SynFMC). The proposed SynFMC dataset includes diverse objects and environments and covers various motion patterns according to specific rules, simulating common and complex real-world scenarios. The complete 6D pose information facilitates models learning to disentangle the motion effects from objects and the camera in a video. To validate the effectiveness and generalization of SynFMC, we further propose a method, Free-Form Motion Control (FMC). FMC enables independent or simultaneous control of object and camera movements, producing high-fidelity videos. Moreover, it is compatible with various personalized text-to-image (T2I) models for different content styles. Extensive experiments demonstrate that the proposed FMC outperforms previous methods across multiple scenarios.

We present ControlNet, a neural network architecture to add spatial conditioning controls to large, pretrained text-to-image diffusion models. ControlNet locks the production-ready large diffusion models, and reuses their deep and robust encoding layers pretrained with billions of images as a strong backbone to learn a diverse set of conditional controls. The neural architecture is connected with "zero convolutions" (zero-initialized convolution layers) that progressively grow the parameters from zero and ensure that no harmful noise could affect the finetuning. We test various conditioning controls, eg, edges, depth, segmentation, human pose, etc, with Stable Diffusion, using single or multiple conditions, with or without prompts. We show that the training of ControlNets is robust with small (<50k) and large (>1m) datasets. Extensive results show that ControlNet may facilitate wider applications to control image diffusion models.

Numerous works have recently integrated 3D camera control into foundational text-to-video models, but the resulting camera control is often imprecise, and video generation quality suffers. In this work, we analyze camera motion from a first principles perspective, uncovering insights that enable precise 3D camera manipulation without compromising synthesis quality. First, we determine that motion induced by camera movements in videos is low-frequency in nature. This motivates us to adjust train and test pose conditioning schedules, accelerating training convergence while improving visual and motion quality. Then, by probing the representations of an unconditional video diffusion transformer, we observe that they implicitly perform camera pose estimation under the hood, and only a sub-portion of their layers contain the camera information. This suggested us to limit the injection of camera conditioning to a subset of the architecture to prevent interference with other video features, leading to 4x reduction of training parameters, improved training speed and 10% higher visual quality. Finally, we complement the typical dataset for camera control learning with a curated dataset of 20K diverse dynamic videos with stationary cameras. This helps the model disambiguate the difference between camera and scene motion, and improves the dynamics of generated pose-conditioned videos. We compound these findings to design the Advanced 3D Camera Control (AC3D) architecture, the new state-of-the-art model for generative video modeling with camera control.

In this paper we focus on inserting a given human (specifically, a single image of a person) into a novel scene. Our method, which builds on top of Stable Diffusion, yields natural looking images while being highly controllable with text and pose. To accomplish this we need to train on pairs of images, the first a reference image with the person, the second a "target image" showing the same person (with a different pose and possibly in a different background). Additionally we require a text caption describing the new pose relative to that in the reference image. In this paper we present a novel dataset following this criteria, which we create using pairs of frames from human-centric and action-rich videos and employing a multimodal LLM to automatically summarize the difference in human pose for the text captions. We demonstrate that identity preservation is a more challenging task in scenes "in-the-wild", and especially scenes where there is an interaction between persons and objects. Combining the weak supervision from noisy captions, with robust 2D pose improves the quality of person-object interactions.

Camera sensor simulation serves as a critical role for autonomous driving (AD), e.g. evaluating vision-based AD algorithms. While existing approaches have leveraged generative models for controllable image/video generation, they remain constrained to generating multi-view video sequences with fixed camera viewpoints and video frequency, significantly limiting their downstream applications. To address this, we present a generalizable camera simulation framework DriveCamSim, whose core innovation lies in the proposed Explicit Camera Modeling (ECM) mechanism. Instead of implicit interaction through vanilla attention, ECM establishes explicit pixel-wise correspondences across multi-view and multi-frame dimensions, decoupling the model from overfitting to the specific camera configurations (intrinsic/extrinsic parameters, number of views) and temporal sampling rates presented in the training data. For controllable generation, we identify the issue of information loss inherent in existing conditional encoding and injection pipelines, proposing an information-preserving control mechanism. This control mechanism not only improves conditional controllability, but also can be extended to be identity-aware to enhance temporal consistency in foreground object rendering. With above designs, our model demonstrates superior performance in both visual quality and controllability, as well as generalization capability across spatial-level (camera parameters variations) and temporal-level (video frame rate variations), enabling flexible user-customizable camera simulation tailored to diverse application scenarios. Code will be avaliable at https://github.com/swc-17/DriveCamSim for facilitating future research.

While modern diffusion models excel at generating high-quality and diverse images, they still struggle with high-fidelity compositional and multimodal control, particularly when users simultaneously specify text prompts, subject references, spatial arrangements, pose constraints, and layout annotations. We introduce Canvas-to-Image, a unified framework that consolidates these heterogeneous controls into a single canvas interface, enabling users to generate images that faithfully reflect their intent. Our key idea is to encode diverse control signals into a single composite canvas image that the model can directly interpret for integrated visual-spatial reasoning. We further curate a suite of multi-task datasets and propose a Multi-Task Canvas Training strategy that optimizes the diffusion model to jointly understand and integrate heterogeneous controls into text-to-image generation within a unified learning paradigm. This joint training enables Canvas-to-Image to reason across multiple control modalities rather than relying on task-specific heuristics, and it generalizes well to multi-control scenarios during inference. Extensive experiments show that Canvas-to-Image significantly outperforms state-of-the-art methods in identity preservation and control adherence across challenging benchmarks, including multi-person composition, pose-controlled composition, layout-constrained generation, and multi-control generation.

Text-to-image models are powerful tools for image creation. However, the generation process is akin to a dice roll and makes it difficult to achieve a single image that captures everything a user wants. In this paper, we propose a framework for creating the desired image by compositing it from various parts of generated images, in essence forming a Generative Photomontage. Given a stack of images generated by ControlNet using the same input condition and different seeds, we let users select desired parts from the generated results using a brush stroke interface. We introduce a novel technique that takes in the user's brush strokes, segments the generated images using a graph-based optimization in diffusion feature space, and then composites the segmented regions via a new feature-space blending method. Our method faithfully preserves the user-selected regions while compositing them harmoniously. We demonstrate that our flexible framework can be used for many applications, including generating new appearance combinations, fixing incorrect shapes and artifacts, and improving prompt alignment. We show compelling results for each application and demonstrate that our method outperforms existing image blending methods and various baselines.

We propose pix2pix3D, a 3D-aware conditional generative model for controllable photorealistic image synthesis. Given a 2D label map, such as a segmentation or edge map, our model learns to synthesize a corresponding image from different viewpoints. To enable explicit 3D user control, we extend conditional generative models with neural radiance fields. Given widely-available monocular images and label map pairs, our model learns to assign a label to every 3D point in addition to color and density, which enables it to render the image and pixel-aligned label map simultaneously. Finally, we build an interactive system that allows users to edit the label map from any viewpoint and generate outputs accordingly.

Embodied AI agents require a fine-grained understanding of the physical world mediated through visual and language inputs. Such capabilities are difficult to learn solely from task-specific data. This has led to the emergence of pre-trained vision-language models as a tool for transferring representations learned from internet-scale data to downstream tasks and new domains. However, commonly used contrastively trained representations such as in CLIP have been shown to fail at enabling embodied agents to gain a sufficiently fine-grained scene understanding -- a capability vital for control. To address this shortcoming, we consider representations from pre-trained text-to-image diffusion models, which are explicitly optimized to generate images from text prompts and as such, contain text-conditioned representations that reflect highly fine-grained visuo-spatial information. Using pre-trained text-to-image diffusion models, we construct Stable Control Representations which allow learning downstream control policies that generalize to complex, open-ended environments. We show that policies learned using Stable Control Representations are competitive with state-of-the-art representation learning approaches across a broad range of simulated control settings, encompassing challenging manipulation and navigation tasks. Most notably, we show that Stable Control Representations enable learning policies that exhibit state-of-the-art performance on OVMM, a difficult open-vocabulary navigation benchmark.

This paper presents a method that allows users to design cinematic video shots in the context of image-to-video generation. Shot design, a critical aspect of filmmaking, involves meticulously planning both camera movements and object motions in a scene. However, enabling intuitive shot design in modern image-to-video generation systems presents two main challenges: first, effectively capturing user intentions on the motion design, where both camera movements and scene-space object motions must be specified jointly; and second, representing motion information that can be effectively utilized by a video diffusion model to synthesize the image animations. To address these challenges, we introduce MotionCanvas, a method that integrates user-driven controls into image-to-video (I2V) generation models, allowing users to control both object and camera motions in a scene-aware manner. By connecting insights from classical computer graphics and contemporary video generation techniques, we demonstrate the ability to achieve 3D-aware motion control in I2V synthesis without requiring costly 3D-related training data. MotionCanvas enables users to intuitively depict scene-space motion intentions, and translates them into spatiotemporal motion-conditioning signals for video diffusion models. We demonstrate the effectiveness of our method on a wide range of real-world image content and shot-design scenarios, highlighting its potential to enhance the creative workflows in digital content creation and adapt to various image and video editing applications.

We present a unified controllable video generation approach AnimateAnything that facilitates precise and consistent video manipulation across various conditions, including camera trajectories, text prompts, and user motion annotations. Specifically, we carefully design a multi-scale control feature fusion network to construct a common motion representation for different conditions. It explicitly converts all control information into frame-by-frame optical flows. Then we incorporate the optical flows as motion priors to guide final video generation. In addition, to reduce the flickering issues caused by large-scale motion, we propose a frequency-based stabilization module. It can enhance temporal coherence by ensuring the video's frequency domain consistency. Experiments demonstrate that our method outperforms the state-of-the-art approaches. For more details and videos, please refer to the webpage: https://yu-shaonian.github.io/Animate_Anything/.

Recent inversion-free, flow-based image editing methods such as FlowEdit leverages a pre-trained noise-to-image flow model such as Stable Diffusion 3, enabling text-driven manipulation by solving an ordinary differential equation (ODE). While the lack of exact latent inversion is a core advantage of these methods, it often results in unstable editing trajectories and poor source consistency. To address this limitation, we propose {\em FlowAlign}, a novel inversion-free flow-based framework for consistent image editing with optimal control-based trajectory control. Specifically, FlowAlign introduces source similarity at the terminal point as a regularization term to promote smoother and more consistent trajectories during the editing process. Notably, our terminal point regularization is shown to explicitly balance semantic alignment with the edit prompt and structural consistency with the source image along the trajectory. Furthermore, FlowAlign naturally supports reverse editing by simply reversing the ODE trajectory, highliting the reversible and consistent nature of the transformation. Extensive experiments demonstrate that FlowAlign outperforms existing methods in both source preservation and editing controllability.

Controllable ultra-long video generation is a fundamental yet challenging task. Although existing methods are effective for short clips, they struggle to scale due to issues such as temporal inconsistency and visual degradation. In this paper, we initially investigate and identify three key factors: separate noise initialization, independent control signal normalization, and the limitations of single-modality guidance. To address these issues, we propose LongVie, an end-to-end autoregressive framework for controllable long video generation. LongVie introduces two core designs to ensure temporal consistency: 1) a unified noise initialization strategy that maintains consistent generation across clips, and 2) global control signal normalization that enforces alignment in the control space throughout the entire video. To mitigate visual degradation, LongVie employs 3) a multi-modal control framework that integrates both dense (e.g., depth maps) and sparse (e.g., keypoints) control signals, complemented by 4) a degradation-aware training strategy that adaptively balances modality contributions over time to preserve visual quality. We also introduce LongVGenBench, a comprehensive benchmark consisting of 100 high-resolution videos spanning diverse real-world and synthetic environments, each lasting over one minute. Extensive experiments show that LongVie achieves state-of-the-art performance in long-range controllability, consistency, and quality.

We present FloVD, a novel video diffusion model for camera-controllable video generation. FloVD leverages optical flow to represent the motions of the camera and moving objects. This approach offers two key benefits. Since optical flow can be directly estimated from videos, our approach allows for the use of arbitrary training videos without ground-truth camera parameters. Moreover, as background optical flow encodes 3D correlation across different viewpoints, our method enables detailed camera control by leveraging the background motion. To synthesize natural object motion while supporting detailed camera control, our framework adopts a two-stage video synthesis pipeline consisting of optical flow generation and flow-conditioned video synthesis. Extensive experiments demonstrate the superiority of our method over previous approaches in terms of accurate camera control and natural object motion synthesis.

While pre-trained visual representations have significantly advanced imitation learning, they are often task-agnostic as they remain frozen during policy learning. In this work, we explore leveraging pre-trained text-to-image diffusion models to obtain task-adaptive visual representations for robotic control, without fine-tuning the model itself. However, we find that naively applying textual conditions - a successful strategy in other vision domains - yields minimal or even negative gains in control tasks. We attribute this to the domain gap between the diffusion model's training data and robotic control environments, leading us to argue for conditions that consider the specific, dynamic visual information required for control. To this end, we propose ORCA, which introduces learnable task prompts that adapt to the control environment and visual prompts that capture fine-grained, frame-specific details. Through facilitating task-adaptive representations with our newly devised conditions, our approach achieves state-of-the-art performance on various robotic control benchmarks, significantly surpassing prior methods.

Video generation with controllable camera viewpoints is essential for applications such as interactive content creation, gaming, and simulation. Existing methods typically adapt pre-trained video models using camera poses relative to a fixed reference, e.g., the first frame. However, these encodings lack shift-invariance, often leading to poor generalization and accumulated drift. While relative camera pose embeddings defined between arbitrary view pairs offer a more robust alternative, integrating them into pre-trained video diffusion models without prohibitive training costs or architectural changes remains challenging. We introduce ReRoPE, a plug-and-play framework that incorporates relative camera information into pre-trained video diffusion models without compromising their generation capability. Our approach is based on the insight that Rotary Positional Embeddings (RoPE) in existing models underutilize their full spectral bandwidth, particularly in the low-frequency components. By seamlessly injecting relative camera pose information into these underutilized bands, ReRoPE achieves precise control while preserving strong pre-trained generative priors. We evaluate our method on both image-to-video (I2V) and video-to-video (V2V) tasks in terms of camera control accuracy and visual fidelity. Our results demonstrate that ReRoPE offers a training-efficient path toward controllable, high-fidelity video generation. See project page for more results: https://sisyphe-lee.github.io/ReRoPE/

Controlling the spatial and semantic structure of diffusion-generated images remains a challenge. Existing methods like ControlNet rely on handcrafted condition maps and retraining, limiting flexibility and generalization. Inversion-based approaches offer stronger alignment but incur high inference cost due to dual-path denoising. We present FreeControl, a training-free framework for semantic structural control in diffusion models. Unlike prior methods that extract attention across multiple timesteps, FreeControl performs one-step attention extraction from a single, optimally chosen key timestep and reuses it throughout denoising. This enables efficient structural guidance without inversion or retraining. To further improve quality and stability, we introduce Latent-Condition Decoupling (LCD): a principled separation of the key timestep and the noised latent used in attention extraction. LCD provides finer control over attention quality and eliminates structural artifacts. FreeControl also supports compositional control via reference images assembled from multiple sources - enabling intuitive scene layout design and stronger prompt alignment. FreeControl introduces a new paradigm for test-time control, enabling structurally and semantically aligned, visually coherent generation directly from raw images, with the flexibility for intuitive compositional design and compatibility with modern diffusion models at approximately 5 percent additional cost.

Controlling both camera motion and object dynamics is essential for coherent and expressive video generation, yet current methods typically handle only one motion type or rely on ambiguous 2D cues that entangle camera-induced parallax with true object movement. We present SymphoMotion, a unified motion-control framework that jointly governs camera trajectories and object dynamics within a single model. SymphoMotion features a Camera Trajectory Control mechanism that integrates explicit camera paths with geometry-aware cues to ensure stable, structurally consistent viewpoint transitions, and an Object Dynamics Control mechanism that combines 2D visual guidance with 3D trajectory embeddings to enable depth-aware, spatially coherent object manipulation. To support large-scale training and evaluation, we further construct RealCOD-25K, a comprehensive real-world dataset containing paired camera poses and object-level 3D trajectories across diverse indoor and outdoor scenes, addressing a key data gap in unified motion control. Extensive experiments and user studies show that SymphoMotion significantly outperforms existing methods in visual fidelity, camera controllability, and object-motion accuracy, establishing a new benchmark for unified motion control in video generation.Codes and data are publicly available at https://grenoble-zhang.github.io/SymphoMotion/.

The field of text-to-image (T2I) generation has made significant progress in recent years, largely driven by advancements in diffusion models. Linguistic control enables effective content creation, but struggles with fine-grained control over image generation. This challenge has been explored, to a great extent, by incorporating additional user-supplied spatial conditions, such as depth maps and edge maps, into pre-trained T2I models through extra encoding. However, multi-control image synthesis still faces several challenges. Specifically, current approaches are limited in handling free combinations of diverse input control signals, overlook the complex relationships among multiple spatial conditions, and often fail to maintain semantic alignment with provided textual prompts. This can lead to suboptimal user experiences. To address these challenges, we propose AnyControl, a multi-control image synthesis framework that supports arbitrary combinations of diverse control signals. AnyControl develops a novel Multi-Control Encoder that extracts a unified multi-modal embedding to guide the generation process. This approach enables a holistic understanding of user inputs, and produces high-quality, faithful results under versatile control signals, as demonstrated by extensive quantitative and qualitative evaluations. Our project page is available in https://any-control.github.io.

Trajectory-based motion control has emerged as an intuitive and efficient approach for controllable video generation. However, the existing trajectory-based approaches are usually limited to only generating the motion trajectory of the controlled object and ignoring the dynamic interactions between the controlled object and its surroundings. To address this limitation, we propose a Chain-of-Thought-based motion controller for controllable video generation, named C-Drag. Instead of directly generating the motion of some objects, our C-Drag first performs object perception and then reasons the dynamic interactions between different objects according to the given motion control of the objects. Specifically, our method includes an object perception module and a Chain-of-Thought-based motion reasoning module. The object perception module employs visual language models to capture the position and category information of various objects within the image. The Chain-of-Thought-based motion reasoning module takes this information as input and conducts a stage-wise reasoning process to generate motion trajectories for each of the affected objects, which are subsequently fed to the diffusion model for video synthesis. Furthermore, we introduce a new video object interaction (VOI) dataset to evaluate the generation quality of motion controlled video generation methods. Our VOI dataset contains three typical types of interactions and provides the motion trajectories of objects that can be used for accurate performance evaluation. Experimental results show that C-Drag achieves promising performance across multiple metrics, excelling in object motion control. Our benchmark, codes, and models will be available at https://github.com/WesLee88524/C-Drag-Official-Repo.

We propose a generative model that, given a coarsely edited image, synthesizes a photorealistic output that follows the prescribed layout. Our method transfers fine details from the original image and preserves the identity of its parts. Yet, it adapts it to the lighting and context defined by the new layout. Our key insight is that videos are a powerful source of supervision for this task: objects and camera motions provide many observations of how the world changes with viewpoint, lighting, and physical interactions. We construct an image dataset in which each sample is a pair of source and target frames extracted from the same video at randomly chosen time intervals. We warp the source frame toward the target using two motion models that mimic the expected test-time user edits. We supervise our model to translate the warped image into the ground truth, starting from a pretrained diffusion model. Our model design explicitly enables fine detail transfer from the source frame to the generated image, while closely following the user-specified layout. We show that by using simple segmentations and coarse 2D manipulations, we can synthesize a photorealistic edit faithful to the user's input while addressing second-order effects like harmonizing the lighting and physical interactions between edited objects.

In controllable generation tasks, flexibly manipulating the generated images to attain a desired appearance or structure based on a single input image cue remains a critical and longstanding challenge. Achieving this requires the effective decoupling of key attributes within the input image data, aiming to get representations accurately. Previous research has predominantly concentrated on disentangling image attributes within feature space. However, the complex distribution present in real-world data often makes the application of such decoupling algorithms to other datasets challenging. Moreover, the granularity of control over feature encoding frequently fails to meet specific task requirements. Upon scrutinizing the characteristics of various generative models, we have observed that the input sensitivity and dynamic evolution properties of the diffusion model can be effectively fused with the explicit decomposition operation in pixel space. This integration enables the image processing operations performed in pixel space for a specific feature distribution of the input image, and can achieve the desired control effect in the generated results. Therefore, we propose FilterPrompt, an approach to enhance the model control effect. It can be universally applied to any diffusion model, allowing users to adjust the representation of specific image features in accordance with task requirements, thereby facilitating more precise and controllable generation outcomes. In particular, our designed experiments demonstrate that the FilterPrompt optimizes feature correlation, mitigates content conflicts during the generation process, and enhances the model's control capability.

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple, this combination has a number of empirical shortcomings, suggesting that learned models may not be well-suited to standard trajectory optimization. In this paper, we consider what it would look like to fold as much of the trajectory optimization pipeline as possible into the modeling problem, such that sampling from the model and planning with it become nearly identical. The core of our technical approach lies in a diffusion probabilistic model that plans by iteratively denoising trajectories. We show how classifier-guided sampling and image inpainting can be reinterpreted as coherent planning strategies, explore the unusual and useful properties of diffusion-based planning methods, and demonstrate the effectiveness of our framework in control settings that emphasize long-horizon decision-making and test-time flexibility.

Current motion-controlled image-to-video generation models rigidly follow user-provided trajectories that are often sparse, imprecise, and causally incomplete. Such reliance often yields unnatural or implausible outcomes, especially by missing secondary causal consequences. To address this, we introduce MotiMotion, a novel framework that reformulates motion control as a reasoning-then-generation problem. To encourage causally grounded and commonsense-consistent interactions, we leverage a training-free vision-language reasoner to refine image-space coordinates of primary trajectories and to hallucinate plausible secondary motions. To further improve motion naturalness, we propose a confidence-aware control scheme that modulates guidance strength, enabling the model to closely follow high-confidence plans while correcting artifacts under low-confidence inputs with its internal generative priors. To support systematic evaluation, we curate a new image-to-video benchmark, MotiBench, consisting of interaction-centric scenes where new events are triggered by motion. Both VLM-based evaluation and a human study on MotiBench demonstrate that MotiMotion produces videos with more plausible object behaviors and interaction, and is preferred over existing approaches.

This study seeks to automate camera movement control for filming existing subjects into attractive videos, contrasting with the creation of non-existent content by directly generating the pixels. We select drone videos as our test case due to their rich and challenging motion patterns, distinctive viewing angles, and precise controls. Existing AI videography methods struggle with limited appearance diversity in simulation training, high costs of recording expert operations, and difficulties in designing heuristic-based goals to cover all scenarios. To avoid these issues, we propose a scalable method that involves collecting real-world training data to improve diversity, extracting camera trajectories automatically to minimize annotation costs, and training an effective architecture that does not rely on heuristics. Specifically, we collect 99k high-quality trajectories by running 3D reconstruction on online videos, connecting camera poses from consecutive frames to formulate 3D camera paths, and using Kalman filter to identify and remove low-quality data. Moreover, we introduce DVGFormer, an auto-regressive transformer that leverages the camera path and images from all past frames to predict camera movement in the next frame. We evaluate our system across 38 synthetic natural scenes and 7 real city 3D scans. We show that our system effectively learns to perform challenging camera movements such as navigating through obstacles, maintaining low altitude to increase perceived speed, and orbiting towers and buildings, which are very useful for recording high-quality videos. Data and code are available at dvgformer.github.io.

We present MOFA-Video, an advanced controllable image animation method that generates video from the given image using various additional controllable signals (such as human landmarks reference, manual trajectories, and another even provided video) or their combinations. This is different from previous methods which only can work on a specific motion domain or show weak control abilities with diffusion prior. To achieve our goal, we design several domain-aware motion field adapters (\ie, MOFA-Adapters) to control the generated motions in the video generation pipeline. For MOFA-Adapters, we consider the temporal motion consistency of the video and generate the dense motion flow from the given sparse control conditions first, and then, the multi-scale features of the given image are wrapped as a guided feature for stable video diffusion generation. We naively train two motion adapters for the manual trajectories and the human landmarks individually since they both contain sparse information about the control. After training, the MOFA-Adapters in different domains can also work together for more controllable video generation.

Generating realistic animated videos from static images is an important area of research in computer vision. Methods based on physical simulation and motion prediction have achieved notable advances, but they are often limited to specific object textures and motion trajectories, failing to exhibit highly complex environments and physical dynamics. In this paper, we introduce an open-domain controllable image animation method using motion priors with video diffusion models. Our method achieves precise control over the direction and speed of motion in the movable region by extracting the motion field information from videos and learning moving trajectories and strengths. Current pretrained video generation models are typically limited to producing very short videos, typically less than 30 frames. In contrast, we propose an efficient long-duration video generation method based on noise reschedule specifically tailored for image animation tasks, facilitating the creation of videos over 100 frames in length while maintaining consistency in content scenery and motion coordination. Specifically, we decompose the denoise process into two distinct phases: the shaping of scene contours and the refining of motion details. Then we reschedule the noise to control the generated frame sequences maintaining long-distance noise correlation. We conducted extensive experiments with 10 baselines, encompassing both commercial tools and academic methodologies, which demonstrate the superiority of our method. Our project page: https://wangqiang9.github.io/Controllable.github.io/

Image-to-video (I2V) generation aims to use the initial frame (alongside a text prompt) to create a video sequence. A grand challenge in I2V generation is to maintain visual consistency throughout the video: existing methods often struggle to preserve the integrity of the subject, background, and style from the first frame, as well as ensure a fluid and logical progression within the video narrative. To mitigate these issues, we propose ConsistI2V, a diffusion-based method to enhance visual consistency for I2V generation. Specifically, we introduce (1) spatiotemporal attention over the first frame to maintain spatial and motion consistency, (2) noise initialization from the low-frequency band of the first frame to enhance layout consistency. These two approaches enable ConsistI2V to generate highly consistent videos. We also extend the proposed approaches to show their potential to improve consistency in auto-regressive long video generation and camera motion control. To verify the effectiveness of our method, we propose I2V-Bench, a comprehensive evaluation benchmark for I2V generation. Our automatic and human evaluation results demonstrate the superiority of ConsistI2V over existing methods.

Neural network-based visuomotor policies enable robots to perform manipulation tasks but remain susceptible to perceptual attacks. For example, conventional 2D adversarial patches are effective under fixed-camera setups, where appearance is relatively consistent; however, their efficacy often diminishes under dynamic viewpoints from moving cameras, such as wrist-mounted setups, due to perspective distortions. To proactively investigate potential vulnerabilities beyond 2D patches, this work proposes a viewpoint-consistent adversarial texture optimization method for 3D objects through differentiable rendering. As optimization strategies, we employ Expectation over Transformation (EOT) with a Coarse-to-Fine (C2F) curriculum, exploiting distance-dependent frequency characteristics to induce textures effective across varying camera-object distances. We further integrate saliency-guided perturbations to redirect policy attention and design a targeted loss that persistently drives robots toward adversarial objects. Our comprehensive experiments show that the proposed method is effective under various environmental conditions, while confirming its black-box transferability and real-world applicability.

Diffusion models have exhibited impressive prowess in the text-to-image task. Recent methods add image-level structure controls, e.g., edge and depth maps, to manipulate the generation process together with text prompts to obtain desired images. This controlling process is globally operated on the entire image, which limits the flexibility of control regions. In this paper, we explore a novel and practical task setting: local control. It focuses on controlling specific local region according to user-defined image conditions, while the remaining regions are only conditioned by the original text prompt. However, it is non-trivial to achieve local conditional controlling. The naive manner of directly adding local conditions may lead to the local control dominance problem, which forces the model to focus on the controlled region and neglect object generation in other regions. To mitigate this problem, we propose Regional Discriminate Loss to update the noised latents, aiming at enhanced object generation in non-control regions. Furthermore, the proposed Focused Token Response suppresses weaker attention scores which lack the strongest response to enhance object distinction and reduce duplication. Lastly, we adopt Feature Mask Constraint to reduce quality degradation in images caused by information differences across the local control region. All proposed strategies are operated at the inference stage. Extensive experiments demonstrate that our method can synthesize high-quality images aligned with the text prompt under local control conditions.

Precise camera control for reshooting dynamic videos is bottlenecked by the severe scarcity of paired multi-view data for non-rigid scenes. We overcome this limitation with a highly scalable self-supervised framework capable of leveraging internet-scale monocular videos. Our core contribution is the generation of pseudo multi-view training triplets, consisting of a source video, a geometric anchor, and a target video. We achieve this by extracting distinct smooth random-walk crop trajectories from a single input video to serve as the source and target views. The anchor is synthetically generated by forward-warping the first frame of the source with a dense tracking field, which effectively simulates the distorted point-cloud inputs expected at inference. Because our independent cropping strategy introduces spatial misalignment and artificial occlusions, the model cannot simply copy information from the current source frame. Instead, it is forced to implicitly learn 4D spatiotemporal structures by actively routing and re-projecting missing high-fidelity textures across distinct times and viewpoints from the source video to reconstruct the target. At inference, our minimally adapted diffusion transformer utilizes a 4D point-cloud derived anchor to achieve state-of-the-art temporal consistency, robust camera control, and high-fidelity novel view synthesis on complex dynamic scenes.

Controllable image synthesis, which enables fine-grained control over generated outputs, has emerged as a key focus in visual generative modeling. However, controllable generation remains challenging for Visual Autoregressive (VAR) models due to their hierarchical, next-scale prediction style. Existing VAR-based methods often suffer from inefficient control encoding and disruptive injection mechanisms that compromise both fidelity and efficiency. In this work, we present SCALAR, a controllable generation method based on VAR, incorporating a novel Scale-wise Conditional Decoding mechanism. SCALAR leverages a pretrained image encoder to extract semantic control signal encodings, which are projected into scale-specific representations and injected into the corresponding layers of the VAR backbone. This design provides persistent and structurally aligned guidance throughout the generation process. Building on SCALAR, we develop SCALAR-Uni, a unified extension that aligns multiple control modalities into a shared latent space, supporting flexible multi-conditional guidance in a single model. Extensive experiments show that SCALAR achieves superior generation quality and control precision across various tasks.

Text-to-video generation has shown promising results. However, by taking only natural languages as input, users often face difficulties in providing detailed information to precisely control the model's output. In this work, we propose fine-grained controllable video generation (FACTOR) to achieve detailed control. Specifically, FACTOR aims to control objects' appearances and context, including their location and category, in conjunction with the text prompt. To achieve detailed control, we propose a unified framework to jointly inject control signals into the existing text-to-video model. Our model consists of a joint encoder and adaptive cross-attention layers. By optimizing the encoder and the inserted layer, we adapt the model to generate videos that are aligned with both text prompts and fine-grained control. Compared to existing methods relying on dense control signals such as edge maps, we provide a more intuitive and user-friendly interface to allow object-level fine-grained control. Our method achieves controllability of object appearances without finetuning, which reduces the per-subject optimization efforts for the users. Extensive experiments on standard benchmark datasets and user-provided inputs validate that our model obtains a 70% improvement in controllability metrics over competitive baselines.

Recent advancements have integrated camera pose as a user-friendly and physics-informed condition in video diffusion models, enabling precise camera control. In this paper, we identify one of the key challenges as effectively modeling noisy cross-frame interactions to enhance geometry consistency and camera controllability. We innovatively associate the quality of a condition with its ability to reduce uncertainty and interpret noisy cross-frame features as a form of noisy condition. Recognizing that noisy conditions provide deterministic information while also introducing randomness and potential misguidance due to added noise, we propose applying epipolar attention to only aggregate features along corresponding epipolar lines, thereby accessing an optimal amount of noisy conditions. Additionally, we address scenarios where epipolar lines disappear, commonly caused by rapid camera movements, dynamic objects, or occlusions, ensuring robust performance in diverse environments. Furthermore, we develop a more robust and reproducible evaluation pipeline to address the inaccuracies and instabilities of existing camera control metrics. Our method achieves a 25.64% improvement in camera controllability on the RealEstate10K dataset without compromising dynamics or generation quality and demonstrates strong generalization to out-of-domain images. Training and inference require only 24GB and 12GB of memory, respectively, for 16-frame sequences at 256x256 resolution. We will release all checkpoints, along with training and evaluation code. Dynamic videos are best viewed at https://zgctroy.github.io/CamI2V.

We introduce FaceCam, a system that generates video under customizable camera trajectories for monocular human portrait video input. Recent camera control approaches based on large video-generation models have shown promising progress but often exhibit geometric distortions and visual artifacts on portrait videos due to scale-ambiguous camera representations or 3D reconstruction errors. To overcome these limitations, we propose a face-tailored scale-aware representation for camera transformations that provides deterministic conditioning without relying on 3D priors. We train a video generation model on both multi-view studio captures and in-the-wild monocular videos, and introduce two camera-control data generation strategies: synthetic camera motion and multi-shot stitching, to exploit stationary training cameras while generalizing to dynamic, continuous camera trajectories at inference time. Experiments on Ava-256 dataset and diverse in-the-wild videos demonstrate that FaceCam achieves superior performance in camera controllability, visual quality, identity and motion preservation.

Humans excel at forecasting the future dynamics of a scene given just a single image. Video generation models that can mimic this ability are an essential component for intelligent systems. Recent approaches have improved temporal coherence and 3D consistency in single-image-conditioned video generation. However, these methods often lack robust user controllability, such as modifying the camera path, limiting their applicability in real-world applications. Most existing camera-controlled image-to-video models struggle with accurately modeling camera motion, maintaining temporal consistency, and preserving geometric integrity. Leveraging explicit intermediate 3D representations offers a promising solution by enabling coherent video generation aligned with a given camera trajectory. Although these methods often use 3D point clouds to render scenes and introduce object motion in a later stage, this two-step process still falls short in achieving full temporal consistency, despite allowing precise control over camera movement. We propose a novel framework that constructs a 3D Gaussian scene representation and samples plausible object motion, given a single image in a single forward pass. This enables fast, camera-guided video generation without the need for iterative denoising to inject object motion into render frames. Extensive experiments on the KITTI, Waymo, RealEstate10K and DL3DV-10K datasets demonstrate that our method achieves state-of-the-art video quality and inference efficiency. The project page is available at https://melonienimasha.github.io/Pixel-to-4D-Website.

Spatial conditioning in pretrained text-to-image diffusion models has significantly improved fine-grained control over the structure of generated images. However, existing control adapters exhibit limited adaptability and incur high training costs when encountering novel spatial control conditions that differ substantially from the training tasks. To address this limitation, we propose Universal Few-Shot Control (UFC), a versatile few-shot control adapter capable of generalizing to novel spatial conditions. Given a few image-condition pairs of an unseen task and a query condition, UFC leverages the analogy between query and support conditions to construct task-specific control features, instantiated by a matching mechanism and an update on a small set of task-specific parameters. Experiments on six novel spatial control tasks show that UFC, fine-tuned with only 30 annotated examples of novel tasks, achieves fine-grained control consistent with the spatial conditions. Notably, when fine-tuned with 0.1% of the full training data, UFC achieves competitive performance with the fully supervised baselines in various control tasks. We also show that UFC is applicable agnostically to various diffusion backbones and demonstrate its effectiveness on both UNet and DiT architectures. Code is available at https://github.com/kietngt00/UFC.

This paper introduces CameraCtrl II, a framework that enables large-scale dynamic scene exploration through a camera-controlled video diffusion model. Previous camera-conditioned video generative models suffer from diminished video dynamics and limited range of viewpoints when generating videos with large camera movement. We take an approach that progressively expands the generation of dynamic scenes -- first enhancing dynamic content within individual video clip, then extending this capability to create seamless explorations across broad viewpoint ranges. Specifically, we construct a dataset featuring a large degree of dynamics with camera parameter annotations for training while designing a lightweight camera injection module and training scheme to preserve dynamics of the pretrained models. Building on these improved single-clip techniques, we enable extended scene exploration by allowing users to iteratively specify camera trajectories for generating coherent video sequences. Experiments across diverse scenarios demonstrate that CameraCtrl Ii enables camera-controlled dynamic scene synthesis with substantially wider spatial exploration than previous approaches.

Recent progress in image generation has sparked research into controlling these models through condition signals, with various methods addressing specific challenges in conditional generation. Instead of proposing another specialized technique, we introduce a simple, unified framework to handle diverse conditional generation tasks involving a specific image-condition correlation. By learning a joint distribution over a correlated image pair (e.g. image and depth) with a diffusion model, our approach enables versatile capabilities via different inference-time sampling schemes, including controllable image generation (e.g. depth to image), estimation (e.g. image to depth), signal guidance, joint generation (image & depth), and coarse control. Previous attempts at unification often introduce significant complexity through multi-stage training, architectural modification, or increased parameter counts. In contrast, our simple formulation requires a single, computationally efficient training stage, maintains the standard model input, and adds minimal learned parameters (15% of the base model). Moreover, our model supports additional capabilities like non-spatially aligned and coarse conditioning. Extensive results show that our single model can produce comparable results with specialized methods and better results than prior unified methods. We also demonstrate that multiple models can be effectively combined for multi-signal conditional generation.

Recently, text-to-image generation models have achieved remarkable advancements, particularly with diffusion models facilitating high-quality image synthesis from textual descriptions. However, these models often struggle with achieving precise control over pixel-level layouts, object appearances, and global styles when using text prompts alone. To mitigate this issue, previous works introduce conditional images as auxiliary inputs for image generation, enhancing control but typically necessitating specialized models tailored to different types of reference inputs. In this paper, we explore a new approach to unify controllable generation within a single framework. Specifically, we propose the unified image-instruction adapter (UNIC-Adapter) built on the Multi-Modal-Diffusion Transformer architecture, to enable flexible and controllable generation across diverse conditions without the need for multiple specialized models. Our UNIC-Adapter effectively extracts multi-modal instruction information by incorporating both conditional images and task instructions, injecting this information into the image generation process through a cross-attention mechanism enhanced by Rotary Position Embedding. Experimental results across a variety of tasks, including pixel-level spatial control, subject-driven image generation, and style-image-based image synthesis, demonstrate the effectiveness of our UNIC-Adapter in unified controllable image generation.

Motions in a video primarily consist of camera motion, induced by camera movement, and object motion, resulting from object movement. Accurate control of both camera and object motion is essential for video generation. However, existing works either mainly focus on one type of motion or do not clearly distinguish between the two, limiting their control capabilities and diversity. Therefore, this paper presents MotionCtrl, a unified and flexible motion controller for video generation designed to effectively and independently control camera and object motion. The architecture and training strategy of MotionCtrl are carefully devised, taking into account the inherent properties of camera motion, object motion, and imperfect training data. Compared to previous methods, MotionCtrl offers three main advantages: 1) It effectively and independently controls camera motion and object motion, enabling more fine-grained motion control and facilitating flexible and diverse combinations of both types of motion. 2) Its motion conditions are determined by camera poses and trajectories, which are appearance-free and minimally impact the appearance or shape of objects in generated videos. 3) It is a relatively generalizable model that can adapt to a wide array of camera poses and trajectories once trained. Extensive qualitative and quantitative experiments have been conducted to demonstrate the superiority of MotionCtrl over existing methods.

Video inbetweening creates smooth and natural transitions between two image frames, making it an indispensable tool for video editing and long-form video synthesis. Existing works in this domain are unable to generate large, complex, or intricate motions. In particular, they cannot accommodate the versatility of user intents and generally lack fine control over the details of intermediate frames, leading to misalignment with the creative mind. To fill these gaps, we introduce MultiCOIN, a video inbetweening framework that allows multi-modal controls, including depth transition and layering, motion trajectories, text prompts, and target regions for movement localization, while achieving a balance between flexibility, ease of use, and precision for fine-grained video interpolation. To achieve this, we adopt the Diffusion Transformer (DiT) architecture as our video generative model, due to its proven capability to generate high-quality long videos. To ensure compatibility between DiT and our multi-modal controls, we map all motion controls into a common sparse and user-friendly point-based representation as the video/noise input. Further, to respect the variety of controls which operate at varying levels of granularity and influence, we separate content controls and motion controls into two branches to encode the required features before guiding the denoising process, resulting in two generators, one for motion and the other for content. Finally, we propose a stage-wise training strategy to ensure that our model learns the multi-modal controls smoothly. Extensive qualitative and quantitative experiments demonstrate that multi-modal controls enable a more dynamic, customizable, and contextually accurate visual narrative.

We present OmniBooth, an image generation framework that enables spatial control with instance-level multi-modal customization. For all instances, the multimodal instruction can be described through text prompts or image references. Given a set of user-defined masks and associated text or image guidance, our objective is to generate an image, where multiple objects are positioned at specified coordinates and their attributes are precisely aligned with the corresponding guidance. This approach significantly expands the scope of text-to-image generation, and elevates it to a more versatile and practical dimension in controllability. In this paper, our core contribution lies in the proposed latent control signals, a high-dimensional spatial feature that provides a unified representation to integrate the spatial, textual, and image conditions seamlessly. The text condition extends ControlNet to provide instance-level open-vocabulary generation. The image condition further enables fine-grained control with personalized identity. In practice, our method empowers users with more flexibility in controllable generation, as users can choose multi-modal conditions from text or images as needed. Furthermore, thorough experiments demonstrate our enhanced performance in image synthesis fidelity and alignment across different tasks and datasets. Project page: https://len-li.github.io/omnibooth-web/

Recent advancements in diffusion and flow-matching models have demonstrated remarkable capabilities in high-fidelity image synthesis. A prominent line of research involves reward-guided guidance, which steers the generation process during inference to align with specific objectives. However, leveraging this reward-guided approach to the task of image editing, which requires preserving the semantic content of the source image while enhancing a target reward, is largely unexplored. In this work, we introduce a novel framework for training-free, reward-guided image editing. We formulate the editing process as a trajectory optimal control problem where the reverse process of a diffusion model is treated as a controllable trajectory originating from the source image, and the adjoint states are iteratively updated to steer the editing process. Through extensive experiments across distinct editing tasks, we demonstrate that our approach significantly outperforms existing inversion-based training-free guidance baselines, achieving a superior balance between reward maximization and fidelity to the source image without reward hacking.

Camera and human motion controls have been extensively studied for video generation, but existing approaches typically address them separately, suffering from limited data with high-quality annotations for both aspects. To overcome this, we present Uni3C, a unified 3D-enhanced framework for precise control of both camera and human motion in video generation. Uni3C includes two key contributions. First, we propose a plug-and-play control module trained with a frozen video generative backbone, PCDController, which utilizes unprojected point clouds from monocular depth to achieve accurate camera control. By leveraging the strong 3D priors of point clouds and the powerful capacities of video foundational models, PCDController shows impressive generalization, performing well regardless of whether the inference backbone is frozen or fine-tuned. This flexibility enables different modules of Uni3C to be trained in specific domains, i.e., either camera control or human motion control, reducing the dependency on jointly annotated data. Second, we propose a jointly aligned 3D world guidance for the inference phase that seamlessly integrates both scenic point clouds and SMPL-X characters to unify the control signals for camera and human motion, respectively. Extensive experiments confirm that PCDController enjoys strong robustness in driving camera motion for fine-tuned backbones of video generation. Uni3C substantially outperforms competitors in both camera controllability and human motion quality. Additionally, we collect tailored validation sets featuring challenging camera movements and human actions to validate the effectiveness of our method.

Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In this paper, we aim to answer the following question: does training the perception and control systems jointly end-to-end provide better performance than training each component separately? To this end, we develop a method that can be used to learn policies that map raw image observations directly to torques at the robot's motors. The policies are represented by deep convolutional neural networks (CNNs) with 92,000 parameters, and are trained using a partially observed guided policy search method, which transforms policy search into supervised learning, with supervision provided by a simple trajectory-centric reinforcement learning method. We evaluate our method on a range of real-world manipulation tasks that require close coordination between vision and control, such as screwing a cap onto a bottle, and present simulated comparisons to a range of prior policy search methods.

Camera-controlled video generation has achieved remarkable progress in recent years. However, existing video-to-video re-rendering methods primarily rely on Supervised Fine-Tuning using synthetic datasets. At present, there is an extreme scarcity of synchronized, multi-view real-world video data. Consequently, the prevailing paradigm often exhibits limited generalization when processing out-of-distribution real-world videos, with models struggling to accurately adhere to physical scales and camera trajectories. To bridge this gap, we propose Geo-Align, the first Reinforcement Learning framework specifically designed for camera-controlled video re-rendering. Built upon a pretrained model, we optimize the model through a scale-aware perceptual reward mechanism. Specifically, we introduce a metric 3D estimator to extract precise camera trajectories from generated videos, explicitly penalizing deviations in rotation and translation. Furthermore, we meticulously designed a data pipeline strategy based on real-world conditioning videos and target camera trajectories derived from synthetic data, eliminating the reliance on paired data. Extensive experiments demonstrate that Geo-Align consistently outperforms existing supervised learning baselines in both precise camera controllability and visual fidelity, indicating the effectiveness of our method.

Emerging video diffusion models achieve high visual fidelity but fundamentally couple scene dynamics with camera motion, limiting their ability to provide precise spatial and temporal control. We introduce a 4D-controllable video diffusion framework that explicitly decouples scene dynamics from camera pose, enabling fine-grained manipulation of both scene dynamics and camera viewpoint. Our framework takes continuous world-time sequences and camera trajectories as conditioning inputs, injecting them into the video diffusion model through a 4D positional encoding in the attention layer and adaptive normalizations for feature modulation. To train this model, we curate a unique dataset in which temporal and camera variations are independently parameterized; this dataset will be made public. Experiments show that our model achieves robust real-world 4D control across diverse timing patterns and camera trajectories, while preserving high generation quality and outperforming prior work in controllability. See our website for video results: https://19reborn.github.io/Bullet4D/

In this work we explore a new approach for robots to teach themselves about the world simply by observing it. In particular we investigate the effectiveness of learning task-agnostic representations for continuous control tasks. We extend Time-Contrastive Networks (TCN) that learn from visual observations by embedding multiple frames jointly in the embedding space as opposed to a single frame. We show that by doing so, we are now able to encode both position and velocity attributes significantly more accurately. We test the usefulness of this self-supervised approach in a reinforcement learning setting. We show that the representations learned by agents observing themselves take random actions, or other agents perform tasks successfully, can enable the learning of continuous control policies using algorithms like Proximal Policy Optimization (PPO) using only the learned embeddings as input. We also demonstrate significant improvements on the real-world Pouring dataset with a relative error reduction of 39.4% for motion attributes and 11.1% for static attributes compared to the single-frame baseline. Video results are available at https://sites.google.com/view/actionablerepresentations .

Controllable image generation has attracted increasing attention in recent years, enabling users to manipulate visual content such as identity and style. However, achieving simultaneous control over the 9D poses (location, size, and orientation) of multiple objects remains an open challenge. Despite recent progress, existing methods often suffer from limited controllability and degraded quality, falling short of comprehensive multi-object 9D pose control. To address these limitations, we propose SceneDesigner, a method for accurate and flexible multi-object 9-DoF pose manipulation. SceneDesigner incorporates a branched network to the pre-trained base model and leverages a new representation, CNOCS map, which encodes 9D pose information from the camera view. This representation exhibits strong geometric interpretation properties, leading to more efficient and stable training. To support training, we construct a new dataset, ObjectPose9D, which aggregates images from diverse sources along with 9D pose annotations. To further address data imbalance issues, particularly performance degradation on low-frequency poses, we introduce a two-stage training strategy with reinforcement learning, where the second stage fine-tunes the model using a reward-based objective on rebalanced data. At inference time, we propose Disentangled Object Sampling, a technique that mitigates insufficient object generation and concept confusion in complex multi-object scenes. Moreover, by integrating user-specific personalization weights, SceneDesigner enables customized pose control for reference subjects. Extensive qualitative and quantitative experiments demonstrate that SceneDesigner significantly outperforms existing approaches in both controllability and quality. Code is publicly available at https://github.com/FudanCVL/SceneDesigner.

World models based on video generation demonstrate remarkable potential for simulating interactive environments but face persistent difficulties in two key areas: maintaining long-term content consistency when scenes are revisited and enabling precise camera control from user-provided inputs. Existing methods based on explicit 3D reconstruction often compromise flexibility in unbounded scenarios and fine-grained structures. Alternative methods rely directly on previously generated frames without establishing explicit spatial correspondence, thereby constraining controllability and consistency. To address these limitations, we present UCM, a novel framework that unifies long-term memory and precise camera control via a time-aware positional encoding warping mechanism. To reduce computational overhead, we design an efficient dual-stream diffusion transformer for high-fidelity generation. Moreover, we introduce a scalable data curation strategy utilizing point-cloud-based rendering to simulate scene revisiting, facilitating training on over 500K monocular videos. Extensive experiments on real-world and synthetic benchmarks demonstrate that UCM significantly outperforms state-of-the-art methods in long-term scene consistency, while also achieving precise camera controllability in high-fidelity video generation.

Recent advances in diffusion-based controllable visual generation have led to remarkable improvements in image quality. However, these powerful models are typically deployed on cloud servers due to their large computational demands, raising serious concerns about user data privacy. To enable secure and efficient on-device generation, we explore in this paper controllable diffusion models built upon linear attention architectures, which offer superior scalability and efficiency, even on edge devices. Yet, our experiments reveal that existing controllable generation frameworks, such as ControlNet and OminiControl, either lack the flexibility to support multiple heterogeneous condition types or suffer from slow convergence on such linear-attention models. To address these limitations, we propose a novel controllable diffusion framework tailored for linear attention backbones like SANA. The core of our method lies in a unified gated conditioning module working in a dual-path pipeline, which effectively integrates multi-type conditional inputs, such as spatially aligned and non-aligned cues. Extensive experiments on multiple tasks and benchmarks demonstrate that our approach achieves state-of-the-art controllable generation performance based on linear-attention models, surpassing existing methods in terms of fidelity and controllability.

Transformers have emerged as a universal backbone across 3D perception, video generation, and world models for autonomous driving and embodied AI, where understanding camera geometry is essential for grounding visual observations in three-dimensional space. However, existing camera encoding methods often rely on simplified pinhole assumptions, restricting generalization across the diverse intrinsics and lens distortions in real-world cameras. We introduce Relative Ray Encoding, a geometry-consistent representation that unifies complete camera information, including 6-DoF poses, intrinsics, and lens distortions. To evaluate its capability under diverse controllability demands, we adopt camera-controlled text-to-video generation as a testbed task. Within this setting, we further identify pitch and roll as two components effective for Absolute Orientation Encoding, enabling full control over the initial camera orientation. Together, these designs form UCPE (Unified Camera Positional Encoding), which integrates into a pretrained video Diffusion Transformer through a lightweight spatial attention adapter, adding less than 1% trainable parameters while achieving state-of-the-art camera controllability and visual fidelity. To facilitate systematic training and evaluation, we construct a large video dataset covering a wide range of camera motions and lens types. Extensive experiments validate the effectiveness of UCPE in camera-controllable video generation and highlight its potential as a general camera representation for Transformers across future multi-view, video, and 3D tasks. Code will be available at https://github.com/chengzhag/UCPE.