Robotics paper index

On the Diffusibility of High-Dimensional Latents

2026-09-23 · arXiv: 2609.28473

One-line summary

A robotics research paper on On the Diffusibility of High-Dimensional Latents.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Representation Autoencoders (RAEs) enable diffusion models to operate in the feature spaces of pretrained visual encoders. However, many off-the-shelf encoders are not optimized for faithful reconstruction, discarding fine-grained visual details. As expected, finetuning these encoders for image reconstruction recovers such details. However, perhaps counterintuitively, this procedure reduces the effective dimensionality of the resulting representation, and the altered geometry has downstream effects on generation. Specifically, we show that using the standard velocity prediction in flow matching in this high-dimensional space requires the model to fit orthogonal noise directions outside the low-dimensional signal manifold, making optimization inefficient. This motivates using the clean data parameterization ($\boldsymbol{x}_{0}$-prediction) instead, which focuses learning on the underlying signal manifold. Across experiments with multiple strong-reconstruction encoders, we show that $\boldsymbol{x}_{0}$-prediction consistently improves text-to-image generation performance.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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