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One video diffusion model now both imagines futures and reads the geometry of the present

AspireAI community · arXiv
Embodied world models are usually built to do one of two things - imagine plausible futures or densely perceive the geometric, semantic and motion structure of a scene - and doing both means maintaining separate pipelines. GenSight puts both into a single pretrained video diffusion transformer, using one spatiotemporal representation for video, depth, embodiment segmentation and first-frame-relative 2D flow, with lightweight task modulation predicting every modality in the same architecture and all tasks jointly optimised in one velocity-prediction space. It runs in two complementary modes, multi-step future video generation with aligned dense predictions and single-step dense perception from observed video. Trained on embodied manipulation data spanning multiple robot embodiments and human-hand interactions, it reports strong results in both generation and dense 4D perception, though the evaluation is on the authors' own training distribution rather than a broad public benchmark.
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One distance function matched sparse-autoencoder features across layers and compressed feature circuits into supernodes
Two sparse-autoencoder analyses have resisted scaling: matching semantically similar features across layers, and compressing large feature circuits into interpretable supernodes. This paper argues both are the same underlying problem, estimating semantic distances between SAE features that sit on different activation manifolds. Its representation treats each feature not as a single decoder vector but as an activation-weighted distribution over the hidden states expressing it, projects those distributions into a shared reference space, and compares them with Wasserstein distance. The representation is proved invariant to activation rescaling and stable under perturbation, and recovers true matches under finite-sample margin conditions. Empirically it outperformed decoder-vector and LLM-based baselines and captured subtle functional distinctions between related features, and it compressed large feature circuits into interpretable supernodes automatically. The limitation is that this is interpretability tooling: the paper demonstrates better feature matching and circuit compression, not that downstream interpretability claims become more accurate.
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