Figure 1: We propose Multimodal Diffusion F orcing, a unified model that captures the interplay between modalities over time through masked diffusion training. Abstract-- Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different modalities, i.e., sensory inputs, actions, and rewards -- which is crucial for modeling robot behavior and understanding task outcomes. In this work, we propose Multimodal Diffusion Forcing, a unified framework for learning from multimodal robot trajectories that extends beyond action generation. Rather than modeling a fixed distribution, MDF applies random partial masking and trains a diffusion model to reconstruct the trajectory. This training objective encourages the model to learn temporal and cross-modal dependencies, such as predicting the effects of actions on force signals or inferring states from partial observations. We evaluate MDF on contact-rich, forceful manipulation tasks in simulated and real-world environments. Our results show that MDF not only delivers versatile functionalities, but also achieves strong performance, and robustness under noisy observations. More visualizations can be found on our website https://unified-df.github.io Humans naturally integrate visual, audio, tactile, and proprioceptive signals to understand and interact with the physical world.

We introduce HyperDiffusionFields (HyDiF), a framework that models 3D molecular conformers as continuous fields rather than discrete atomic coordinates or graphs. At the core of our approach is the Molecular Directional Field (MDF), a vector field that maps any point in space to the direction of the nearest atom of a particular type. We represent MDFs using molecule-specific neural implicit fields, which we call Molecular Neural Fields (MNFs). To enable learning across molecules and facilitate generalization, we adopt an approach where a shared hypernetwork, conditioned on a molecule, generates the weights of the given molecule's MNF. To endow the model with generative capabilities, we train the hypernetwork as a denoising diffusion model, enabling sampling in the function space of molecular fields. Our design naturally extends to a masked diffusion mechanism to support structure-conditioned generation tasks, such as molecular inpainting, by selectively noising regions of the field. Beyond generation, the localized and continuous nature of MDFs enables spatially fine-grained feature extraction for molecular property prediction, something not easily achievable with graph or point cloud based methods. Furthermore, we demonstrate that our approach scales to larger biomolecules, illustrating a promising direction for field-based molecular modeling.

Policymakers often use Classification and Regression Trees (CART) to partition populations based on binary outcomes and target subpopulations whose probability of the binary event exceeds a threshold. However, classic CART and knowledge distillation method whose student model is a CART (referred to as KD-CART) do not minimize the misclassification risk associated with classifying the latent probabilities of these binary events. To reduce the misclassification risk, we propose two methods, Penalized Final Split (PFS) and Maximizing Distance Final Split (MDFS). PFS incorporates a tunable penalty into the standard CART splitting criterion function. MDFS maximizes a weighted sum of distances between node means and the threshold. It can point-identify the optimal split under the unique intersect latent probability assumption. In addition, we develop theoretical result for MDFS splitting rule estimation, which has zero asymptotic risk. Through extensive simulation studies, we demonstrate that these methods predominately outperform classic CART and KD-CART in terms of misclassification error. Furthermore, in our empirical evaluations, these methods provide deeper insights than the two baseline methods.

We present Manifold Diffusion Fields (MDF), an approach to learn generative models of continuous functions defined over Riemannian manifolds. Leveraging insights from spectral geometry analysis, we define an intrinsic coordinate system on the manifold via the eigen-functions of the Laplace-Beltrami Operator. MDF represents functions using an explicit parametrization formed by a set of multiple input-output pairs. Our approach allows to sample continuous functions on manifolds and is invariant with respect to rigid and isometric transformations of the manifold. Empirical results on several datasets and manifolds show that MDF can capture distributions of such functions with better diversity and fidelity than previous approaches.

It would be naive to assume that, because you've never performed in a porn video, you will never appear in one. In fact, these days, anyone with access to an image of your face can, in a matter of seconds produce an extremely convincing video in which you appear as a porn star. One man who has done this countless times, to countless women, without their consent, is one Mr Deepfakes. As the founder of the most prominent deepfake porn website in existence, he has chosen to remain anonymous. He built the burgeoning community "from scratch" as a side hustle, after deepfake porn was banned from Reddit in 2018.

Poker is a large complex game of imperfect information, which has been singled out as a major AI challenge problem. Recently there has been a series of breakthroughs culminating in agents that have successfully defeated the strongest human players in two-player no-limit Texas hold 'em. The strongest agents are based on algorithms for approximating Nash equilibrium strategies, which are stored in massive binary files and unintelligible to humans. A recent line of research has explored approaches for extrapolating knowledge from strong game-theoretic strategies that can be understood by humans. This would be useful when humans are the ultimate decision maker and allow humans to make better decisions from massive algorithmically-generated strategies. Using techniques from machine learning we have uncovered a new simple, fundamental rule of poker strategy that leads to a significant improvement in performance over the best prior rule and can also easily be applied by human players.

Tractograms are mathematical representations of the main paths of axons within the white matter of the brain, from diffusion MRI data. Such representations are in the form of polylines, called streamlines, and one streamline approximates the common path of tens of thousands of axons. The analysis of tractograms is a task of interest in multiple fields, like neurosurgery and neurology. A basic building block of many pipelines of analysis is the definition of a distance function between streamlines. Multiple distance functions have been proposed in the literature, and different authors use different distances, usually without a specific reason other than invoking the "common practice". To this end, in this work we want to test such common practices, in order to obtain factual reasons for choosing one distance over another. For these reasons, in this work we compare many streamline distance functions available in the literature. We focus on the common task of automatic bundle segmentation and we adopt the recent approach of supervised segmentation from expert-based examples. Using the HCP dataset, we compare several distances obtaining guidelines on the choice of which distance function one should use for supervised bundle segmentation.