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cs.CV2026
Causal-rCM: A Unified Teacher-Forcing and Self-Forcing Open Recipe for Autoregressive Diffusion Distillation in Streaming Video Generation and Interactive World Models
Kaiwen Zheng, Guande He, Min Zhao +7
Autoregressive video diffusion with causal diffusion transformers has emerged as a major paradigm for real-time streaming video generation and action-conditioned interactive world…
cs.RO2026
PACT: Self-Evolving Physical Safety Alignment for Diffusion Policies in Embodied Manipulation
Lingxuan Wu, Zijian Zhu, Lizhong Wang +5
Diffusion policies have achieved remarkable success in robotic manipulation, yet they often fail to satisfy strict physical constraints required for safe deployment. Existing appro…