Joined November 2021
Today, we introduce Priming Models, a new paradigm for training one-step generative models from scratch. No diffusion teacher. No flow map. No CFG. No JVP. We believe this work will challenge how we think about building one-step models. Joint work with @sitanch, @du_yilun, @parkwbin03, Bohyung Han. 🔥 1.19 FID one-step on ImageNet 256×256 while using substantially less compute, e.g., 12X less than Drifting-B, 6X less than Drifting-L 🎨 Scales to text-to-image generation (GenEval 0.82) 🤖 World modeling on RT-1 / Bridge-V2 Priming Model is built on one core message: [Reconstruction pretraining --> Distributional post-training].
38
220
24
1,463
103,668
Yu-Chu Yu retweeted
Now accepted at NeurIPS: Functional Gradient Descent with Adaptive Representations Functional GD algorithms generally outperform neural nets, but are hard to accurately implement. We fix this!
8
67
1
719
43,926
"An Introduction to Flow Matching and Diffusion Models" is a set of MIT lecture notes from the 2026 course "Generative AI" that I found useful for understanding the mathematics behind modern generative AI. The notes build the subject gradually, starting from probability distributions, ordinary and stochastic differential equations, and Brownian motion, before moving to diffusion processes, flow matching, score matching, and classifier-free guidance. They also explore architectures for image and video generation, latent spaces, autoencoders, and discrete diffusion models for language generation. It's a really interesting resource. diffusion.csail.mit.edu/2026…
3
67
1
475
20,542
Papers on recurrent transformers: arxiv.org/pdf/2606.21562 (ours): train full Tr, distill -> rec Tr arxiv.org/pdf/2608.02870 train full and rec jointly, max. coherence arxiv.org/pdf/2606.06479 train rec Tr w predict. obj. arxiv.org/pdf/2608.08888 train full Tr, add rec latents
2
47
3
316
24,787
Yu-Chu Yu retweeted
Standard attention is too noisy. Microsoft's 'Differential Transformer' computes two separate softmax attention maps and subtracts them. This cancels out irrelevant context noise & drastically improves long-context retrieval and stability. 📄 arxiv.org/abs/2410.05258
2
24
1
178
8,675
Yu-Chu Yu retweeted
"Dynamic Compression in Recurrent Networks" Recurrent models are memory-efficient, but they compress every token before knowing what will matter later. So this paper instead lets the model selectively re-scan past tokens and rewrite its recurrent state once the task is known. On their function-reuse benchmark, a 111k-state dynamic model beats a 3.1M-state single-pass model, showing you can trade extra compute for better memory efficiency. alphaxiv.org/abs/2608.17896v…
3
26
1
174
9,046
Yu-Chu Yu retweeted
Google just proved the Transformer is the most expensive version of a much bigger idea. Here's the setup. There are two ways for a model to remember a long context. → RNNs crush everything into one fixed memory. cheap, but they forget. → Transformers keep every token forever. sharp, but the cost grows quadratically. twice the context, four times the compute. For years those felt like two different species. This paper shows they're the same thing at two settings of one dial. The idea is called Memory Caching. Instead of overwriting your memory as you read, you snapshot it. Every so often you save a checkpoint of the memory state and keep it around. When a new token needs to look something up, it can reach back into every saved memory, not just the latest one. So the RNN stops forgetting. Its effective memory now grows with the length of the input. The complexity lands at O(NL). that sits right between the RNN's O(L) and the Transformer's O(L²). N is the dial. Now the part that made me stop. Turn the dial all the way up. Make every single token its own memory checkpoint. Save all of them. You just rebuilt attention. That's what a Transformer is. Memory caching with the segment size set to 1. Every token cached, nothing compressed, maximum cost. The setting where you pay full price. Attention was never the fundamental thing. It's the far end of a spectrum. What that buys you in practice: → Bolt it onto Titans, deep linear attention, or plain linear attention. all of them get better. → Long-context recall climbs hard. on a 16k needle-in-a-haystack test, Titans went from 21 to 32. → It stays subquadratic, so it's far cheaper than a Transformer as context gets long. → You can even bolt it on after training and the model reaches longer contexts than it was trained on. The honest ceiling: a pure Transformer still wins on raw recall accuracy. This closes the gap, it doesn't erase it. But it closes it while spending a fraction of the compute. From the same Google team that built Titans.
21
106
10
772
88,380
1/ SSL models like DINOv2 are engineering marvels, but they rely on fragile hacks like EMA, stop-gradients, and custom centering to avoid representation collapse. What if we could replace all these heuristics with pure, mathematically sound optimal transport? 🧵
5
42
5
411
47,643
1/ We have been training RNNs wrong for decades. Backpropagation through time (BPTT) forces sequential updates, creating unstable O(T) gradient paths. What if we could train highly expressive, non-linear RNNs with flat, parallelized O(1) gradients? It is now possible. 🧵
12
125
10
774
82,701
Progress in AI is driven by approaches that make weaker assumptions, which allows for better scaling But representation learning has relied on strong assumptions like augmentations, masking, cropping, etc... until now! 🎬 Introducing Temporal Difference in Vision (TDV), a new paradigm for representation learning built on a single assumption: causality TL;DR: - We introduce TDV, the first approach to learn good representations without any augmentations, masking, cropping, or pixel-based reconstruction - TDV matches SOTA recipes like DINO and iBOT on dense spatial tasks - We show that as data scales, weaker assumptions work better 🧵Thread:
26
115
13
829
86,676
We trained language models that compress massive contexts into tiny latent representations. Latent Context Language Models (LCLMs) outperform existing KV cache compression methods on the latency/accuracy frontier. 🧵1/10
15
64
4
435
54,595
Yu-Chu Yu retweeted
对搞 AI agents、reasoning model 的人来说,这篇论文真的很实用性有趣。 如果你在做 reasoning model 的 post-training、蒸馏、on-policy 数据生成,或者想改进小模型的长链思考能力,这篇能给你一个干净的思路和可落地的 trick。 尤其对 hard math 问题,收益比较实在。 现在训小模型学大模型的长链思考,像 o1 那种,常用 on-policy distillation是让小模型自己先生成 reasoning 轨迹,一步步写思考过程,然后大老师模型在它生成的轨迹上逐个 token 教它。 小模型如果开头几步就走错了,后面再怎么写都救不回来。这时老师还得硬着头皮在那个带病前缀上继续监督。 结果老师自己的输出分布会分裂成两半,一半想继续错下去,一半想纠正,给学生的学习信号就变得很乱、梯度碎片化。 以前大家各种修 token loss 的 trick,比如截断、重加权、top-k 啥的,都只能治标不治本,因为问题根子在整个轨迹的前面就坏了。 就像是学生写数学证明,第一步假设错了,老师还得在错的假设上逐字批改后面每一步,教出来的东西自然稀碎。 论文的解法是Trajectory-Refined Distillation。 不直接在学生原始轨迹上蒸馏,主要让老师先把整个学生轨迹重写、精炼成一个更好的版本,修正错误前缀,同时尽量保留学生原来有用的部分和风格,保持在学生分布支持内。然后,学生去模仿这个被老师修正过的干净完整轨迹。 我理解这种方法算是把监督从token 级修补升级到trajectory 级修正了。 尽管这只是incremental contribution,而且相当依赖老师 refinement 的质量,如果老师不够强,修正效果会打折。但是整体上把把 prefix failure”这个现象说清楚、形式化了,还有实验证据支持已经很好了。 个人的品味,感觉这篇尤其在难的数学题上 gains 明显,还能让轨迹变短,更高效,自蒸馏时甚至能解出原来完全解不出的题。一个小改动就实际能用的感觉很舒服。
"Trajectory-Refined Distillation" This paper shows a core failure in on-policy distillation. When a student takes a wrong reasoning path, the teacher is forced to supervise from that broken prefix, so token-level KL becomes noisy. So they introduced TRD that fixes this by refining the whole rollout first. What it does is the teacher rewrites the student trajectory into a better reasoning path, then the student distills from that corrected trajectory. While this is a small change, it still moves distillation from token fixes to trajectory fixes, giving cleaner supervision and stronger reasoning gains.
3
18
110
13,583
Yu-Chu Yu retweeted
"Self-Harness: Harnesses That Improve Themselves" What if an AI agent improves the harness that controls how it acts? So instead of humans tuning prompts, tools, retry rules, and verification for every model, this paper explores letting the agent mines its own failures, proposes small harness edits, and keeps only the ones that pass regression tests. All without fine-tuning or teacher model. On Terminal-Bench-2.0, it improves held-out pass rates across MiniMax, Qwen, and GLM.
16
49
4
365
19,468
Yunzhu Li, Columbia professor (MIT PhD): "scaling robotic manipulation demands rich sensing of physical contact." This one sentence summarizes the entire field. His 1 hour talk at Montreal Robotics breaks down why vision alone gets robots to 30%, and what the other 70% actually requires. The robot can see. it still can't feel. That's the gap a lot of research needs to focus on. I wrote the full breakdown below ↓
7
31
4
239
37,091
I have long been fascinated by the "Never Train from Scratch" (arxiv.org/abs/2310.02980, ICLR24 outstanding paper) results by @AmosaurusRex and collaborators. Finally, with @CoserOmar we got time to look into the mechanisms of self-pretraining (SPT). Here's what we learned 🧵
3
19
2
185
22,214
Yu-Chu Yu retweeted
"q0: Primitives for Hyper-Epoch Pretraining" q0 shows that when data is fixed, training one model longer saturates fast. Instead, use extra epochs to build a population with cyclic snapshots, chain distillation, and learned ensemble weights. On a 1.8B LM, q0 matches a 256-epoch ensemble in 56 epochs and reaches 12.9x data efficiency. This shifts from refining one model to exploring and aggregating many.
2
14
96
5,378
I have so much fun writing this position with some of the most amaaazing people in robotics! Have a look at it here: paper.motoniq.ai/ #AI #MachineLearning #Robotics
17
108
15
721
126,453
1/ Why are LLMs so data-hungry compared to humans? Next-token prediction is the culprit. By forcing models to predict raw, messy surface tokens, we impose an exponential data tax. The fix? Stop predicting tokens. Predict your own internal hidden abstractions instead. 🧵
7
28
174
9,261
Yu-Chu Yu retweeted
Hey! A new vision encoder for robotics is in town 👀🤖 Instead of using models trained on static images (CLIP, SigLIP, DINO), we bake the dynamics-awareness directly into perception. It transfers well everywhere and boosts real-world OOD success by +22.5% Check it out👇
Are you still running your robot policies on vision encoders trained purely on static images? Nowadays, the standard practice in robot learning is to plug in powerful vision models like CLIP, SigLIP, or DINOv2. This inherits a quiet, convenient assumption: “Let mainstream computer vision handle perception, and the downstream policy will figure out the dynamics.” But let’s be real for a moment. Is this truly the best we can do? We introduce DynaFLIP: Rethinking Robotics Perception via Tri-Modal-Dynamics Guided Representation.⬇️ 🔷 Dynamics upstream: we push motion understanding into perception. 🔷 Tri-modal-dynamics supervision: image transitions × language × 3D flow, fused via simplex-volume alignment (260K trajectories from robot & human video) 🔷 Transfers everywhere: a visual backbone for diverse policies (MLP, Diffusion Policy, VLA) 🔷 +22.5% over the strongest baseline (DINOv2, SigLIP) under real-world OOD 🔷 Open-Source & easy to use 🌐 Website: dynaflip-robotics.github.io 📄 Paper: arxiv.org/abs/2605.30350 💻 Code: github.com/JU-SUK/DynaFLIP 🤗 Hugging Face: huggingface.co/jlee-larr/dyn…
6
21
288
39,076