MotuBrain: An Advanced World Action Model for Robot Control.

Fan Bao

MotuBrain Team Chendong Xiang Fan Bao Haitian Liu Hengkai Tan Hongzhe Bi James Li Jiabao Liu Jingrui Pang Kiro Jing Louis Liu Mengchen Cai Rongxu Cui Ruowen Zhao Runqing Wang Shuhe Huang Yao Feng 0002 Yinze Rong Zeyuan Wang Jun Zhu 0001 MotuBrain: An Advanced World Action Model for Robot Control. 2026 April abs/2604.27792 CoRR https://doi.org/10.48550/arXiv.2604.27792 db/journals/corr/corr2604.html#abs-2604-27792 streams/journals/corr

Min Zhao 0013 Rongzhen Wang Fan Bao Chongxuan Li Jun Zhu 0001 ControlVideo: conditional control for one-shot text-driven video editing and beyond. 2025 68 Sci. China Inf. Sci. 3 https://doi.org/10.1007/s11432-023-4184-4 db/journals/chinaf/chinaf68.html#ZhaoWBLZ25 streams/journals/chinaf

Cheng Lu 0011 Yuhao Zhou Fan Bao Jianfei Chen 0001 Chongxuan Li Jun Zhu 0001 DPM-Solver++: Fast Solver for Guided Sampling of Diffusion Probabilistic Models. 730-751 2025 August 22 Mach. Intell. Res. 4 https://doi.org/10.1007/s11633-025-1562-4 db/journals/ijautcomp/ijautcomp22.html#LuZBCLZ25 streams/journals/ijautcomp

Chang Li Zehua Chen Fan Bao Jun Zhu Bridge-SR: Schrödinger Bridge for Efficient SR. 1-5 2025 ICASSP https://doi.org/10.1109/ICASSP49660.2025.10890104 conf/icassp/2025 db/conf/icassp/icassp2025.html#LiCBZ25 Shentong Mo Zehua Chen Fan Bao Jun Zhu DiffGAP: A Lightweight Diffusion Module in Contrastive Space for Bridging Cross-Model Gap. 1-5 2025 ICASSP https://doi.org/10.1109/ICASSP49660.2025.10889139 conf/icassp/2025 db/conf/icassp/icassp2025.html#MoCBZ25 Kaiwen Zheng 0003 Guande He Jianfei Chen 0001 Fan Bao Jun Zhu 0001 Elucidating the Preconditioning in Consistency Distillation. 2025 ICLR https://openreview.net/forum?id=55pCDKiS8B conf/iclr/2025 db/conf/iclr/iclr2025.html#ZhengH0B025 Kaiwen Zheng 0003 Guande He Jianfei Chen 0001 Fan Bao Jun Zhu 0001 Diffusion Bridge Implicit Models. 2025 ICLR https://openreview.net/forum?id=eghAocvqBk conf/iclr/2025 db/conf/iclr/iclr2025.html#ZhengH0B025a

Chang Li Zehua Chen Fan Bao Jun Zhu Bridge-SR: Schrödinger Bridge for Efficient SR. 2025 January abs/2501.07897 CoRR https://doi.org/10.48550/arXiv.2501.07897 db/journals/corr/corr2501.html#abs-2501-07897 streams/journals/corr

Kaiwen Zheng 0003 Guande He Jianfei Chen 0001 Fan Bao Jun Zhu 0001 Elucidating the Preconditioning in Consistency Distillation. 2025 February abs/2502.02922 CoRR https://doi.org/10.48550/arXiv.2502.02922 db/journals/corr/corr2502.html#abs-2502-02922 streams/journals/corr

Shentong Mo Zehua Chen Fan Bao Jun Zhu DiffGAP: A Lightweight Diffusion Module in Contrastive Space for Bridging Cross-Model Gap. 2025 March abs/2503.12131 CoRR https://doi.org/10.48550/arXiv.2503.12131 db/journals/corr/corr2503.html#abs-2503-12131 streams/journals/corr

Guande He Kaiwen Zheng 0003 Jianfei Chen 0001 Fan Bao Jun Zhu 0001 Consistency Diffusion Bridge Models. 2024 NeurIPS http://papers.nips.cc/paper_files/paper/2024/hash/29d4e09f060a95118762296d240b5e63-Abstract-Conference.html conf/nips/2024 db/conf/nips/neurips2024.html#HeZCBZ24

Fan Bao Chendong Xiang Gang Yue Guande He Hongzhou Zhu Kaiwen Zheng 0003 Min Zhao 0013 Shilong Liu 0004 Yaole Wang Jun Zhu 0001 Vidu: a Highly Consistent, Dynamic and Skilled Text-to-Video Generator with Diffusion Models. 2024 abs/2405.04233 CoRR https://doi.org/10.48550/arXiv.2405.04233 db/journals/corr/corr2405.html#abs-2405-04233

Kaiwen Zheng 0003 Guande He Jianfei Chen 0001 Fan Bao Jun Zhu 0001 Diffusion Bridge Implicit Models. 2024 abs/2405.15885 CoRR https://doi.org/10.48550/arXiv.2405.15885 db/journals/corr/corr2405.html#abs-2405-15885

Guande He Kaiwen Zheng 0003 Jianfei Chen 0001 Fan Bao Jun Zhu 0001 Consistency Diffusion Bridge Models. 2024 abs/2410.22637 CoRR https://doi.org/10.48550/arXiv.2410.22637 db/journals/corr/corr2410.html#abs-2410-22637 streams/journals/corr

Fan Bao Shen Nie Kaiwen Xue Yue Cao Chongxuan Li Hang Su 0006 Jun Zhu 0001 All are Worth Words: A ViT Backbone for Diffusion Models. 22669-22679 2023 CVPR https://doi.org/10.1109/CVPR52729.2023.02171 conf/cvpr/2023 db/conf/cvpr/cvpr2023.html#BaoNXCL0023 Fan Bao Min Zhao 0013 Zhongkai Hao Peiyao Li Chongxuan Li Jun Zhu 0001 Equivariant Energy-Guided SDE for Inverse Molecular Design. 2023 ICLR https://openreview.net/forum?id=r0otLtOwYW conf/iclr/2023 db/conf/iclr/iclr2023.html#Bao0HLL023 Yong Zhong Hongtao Liu Xiaodong Liu Fan Bao Weiran Shen Chongxuan Li Deep Generative Modeling on Limited Data with Regularization by Nontransferable Pre-trained Models. 2023 ICLR https://openreview.net/forum?id=M9u_ctqFUlg conf/iclr/2023 db/conf/iclr/iclr2023.html#ZhongLLBSL23 Fan Bao Shen Nie Kaiwen Xue Chongxuan Li Shi Pu 0002 Yaole Wang Gang Yue Yue Cao Hang Su 0006 Jun Zhu 0001 One Transformer Fits All Distributions in Multi-Modal Diffusion at Scale. 1692-1717 2023 ICML https://proceedings.mlr.press/v202/bao23a.html conf/icml/2023 db/conf/icml/icml2023.html#BaoNXLPWYC0023 Chenyu Zheng Guoqiang Wu Fan Bao Yue Cao Chongxuan Li Jun Zhu 0001 Revisiting Discriminative vs. Generative Classifiers: Theory and Implications. 42420-42477 2023 ICML https://proceedings.mlr.press/v202/zheng23f.html conf/icml/2023 db/conf/icml/icml2023.html#ZhengWBCLZ23 Hanzhong Guo Cheng Lu 0011 Fan Bao Tianyu Pang Shuicheng Yan Chao Du Chongxuan Li Gaussian Mixture Solvers for Diffusion Models. 2023 NeurIPS http://papers.nips.cc/paper_files/paper/2023/hash/51373b6499708b6fcc38f1e8f8f5b376-Abstract-Conference.html conf/nips/2023 db/conf/nips/neurips2023.html#GuoLBPYDL23 Zhengyi Wang Cheng Lu 0011 Yikai Wang 0001 Fan Bao Chongxuan Li Hang Su 0006 Jun Zhu 0001 ProlificDreamer: High-Fidelity and Diverse Text-to-3D Generation with Variational Score Distillation. 2023 NeurIPS http://papers.nips.cc/paper_files/paper/2023/hash/1a87980b9853e84dfb295855b425c262-Abstract-Conference.html conf/nips/2023 db/conf/nips/neurips2023.html#Wang00BL0023 Zebin You Yong Zhong Fan Bao Jiacheng Sun Chongxuan Li Jun Zhu 0001 Diffusion Models and Semi-Supervised Learners Benefit Mutually with Few Labels. 2023 NeurIPS http://papers.nips.cc/paper_files/paper/2023/hash/8735753cc18f6baa92d1f069fd8b14a0-Abstract-Conference.html conf/nips/2023 db/conf/nips/neurips2023.html#YouZBSLZ23

Chenyu Zheng Guoqiang Wu Fan Bao Yue Cao Chongxuan Li Jun Zhu 0001 Revisiting Discriminative vs. Generative Classifiers: Theory and Implications. 2023 abs/2302.02334 CoRR https://doi.org/10.48550/arXiv.2302.02334 db/journals/corr/corr2302.html#abs-2302-02334

Zebin You Yong Zhong Fan Bao Jiacheng Sun Chongxuan Li Jun Zhu 0001 Diffusion Models and Semi-Supervised Learners Benefit Mutually with Few Labels. 2023 abs/2302.10586 CoRR https://doi.org/10.48550/arXiv.2302.10586 db/journals/corr/corr2302.html#abs-2302-10586

Fan Bao Shen Nie Kaiwen Xue Chongxuan Li Shi Pu 0002 Yaole Wang Gang Yue Yue Cao Hang Su 0006 Jun Zhu 0001 One Transformer Fits All Distributions in Multi-Modal Diffusion at Scale. 2023 abs/2303.06555 CoRR https://doi.org/10.48550/arXiv.2303.06555 db/journals/corr/corr2303.html#abs-2303-06555

Chendong Xiang Fan Bao Chongxuan Li Hang Su 0006 Jun Zhu 0001 A Closer Look at Parameter-Efficient Tuning in Diffusion Models. 2023 abs/2303.18181 CoRR https://doi.org/10.48550/arXiv.2303.18181 db/journals/corr/corr2303.html#abs-2303-18181

Zhengyi Wang Cheng Lu 0011 Yikai Wang 0001 Fan Bao Chongxuan Li Hang Su 0006 Jun Zhu 0001 ProlificDreamer: High-Fidelity and Diverse Text-to-3D Generation with Variational Score Distillation. 2023 abs/2305.16213 CoRR https://doi.org/10.48550/arXiv.2305.16213 db/journals/corr/corr2305.html#abs-2305-16213

Min Zhao 0013 Rongzhen Wang Fan Bao Chongxuan Li Jun Zhu 0001 ControlVideo: Adding Conditional Control for One Shot Text-to-Video Editing. 2023 abs/2305.17098 CoRR https://doi.org/10.48550/arXiv.2305.17098 db/journals/corr/corr2305.html#abs-2305-17098

Hanzhong Guo Cheng Lu 0011 Fan Bao Tianyu Pang Shuicheng Yan Chao Du Chongxuan Li Gaussian Mixture Solvers for Diffusion Models. 2023 abs/2311.00941 CoRR https://doi.org/10.48550/arXiv.2311.00941 db/journals/corr/corr2311.html#abs-2311-00941

Fan Bao Chongxuan Li Jun Zhu 0001 Bo Zhang 0010 Analytic-DPM: an Analytic Estimate of the Optimal Reverse Variance in Diffusion Probabilistic Models. 2022 ICLR https://openreview.net/forum?id=0xiJLKH-ufZ conf/iclr/2022 db/conf/iclr/iclr2022.html#BaoLZZ22 Fan Bao Chongxuan Li Jiacheng Sun Jun Zhu 0001 Bo Zhang 0010 Estimating the Optimal Covariance with Imperfect Mean in Diffusion Probabilistic Models. 1555-1584 2022 ICML https://proceedings.mlr.press/v162/bao22d.html conf/icml/2022 db/conf/icml/icml2022.html#BaoLSZZ22 Cheng Lu 0011 Kaiwen Zheng 0003 Fan Bao Jianfei Chen 0001 Chongxuan Li Jun Zhu 0001 Maximum Likelihood Training for Score-based Diffusion ODEs by High Order Denoising Score Matching. 14429-14460 2022 ICML https://proceedings.mlr.press/v162/lu22f.html conf/icml/2022 db/conf/icml/icml2022.html#LuZB0LZ22 Min Zhao 0013 Fan Bao Chongxuan Li Jun Zhu 0001 EGSDE: Unpaired Image-to-Image Translation via Energy-Guided Stochastic Differential Equations. 2022 conf/nips/2022 NeurIPS http://papers.nips.cc/paper_files/paper/2022/hash/177d68f4adef163b7b123b5c5adb3c60-Abstract-Conference.html db/conf/nips/neurips2022.html#0008BL022 Cheng Lu 0011 Yuhao Zhou Fan Bao Jianfei Chen 0001 Chongxuan Li Jun Zhu 0001 DPM-Solver: A Fast ODE Solver for Diffusion Probabilistic Model Sampling in Around 10 Steps. 2022 conf/nips/2022 NeurIPS http://papers.nips.cc/paper_files/paper/2022/hash/260a14acce2a89dad36adc8eefe7c59e-Abstract-Conference.html db/conf/nips/neurips2022.html#0011ZB0L022

Fan Bao Chongxuan Li Jun Zhu 0001 Bo Zhang 0010 Analytic-DPM: an Analytic Estimate of the Optimal Reverse Variance in Diffusion Probabilistic Models. 2022 abs/2201.06503 CoRR https://arxiv.org/abs/2201.06503 db/journals/corr/corr2201.html#abs-2201-06503

Cheng Lu 0011 Yuhao Zhou Fan Bao Jianfei Chen 0001 Chongxuan Li Jun Zhu 0001 DPM-Solver: A Fast ODE Solver for Diffusion Probabilistic Model Sampling in Around 10 Steps. 2022 abs/2206.00927 CoRR https://doi.org/10.48550/arXiv.2206.00927 db/journals/corr/corr2206.html#abs-2206-00927

Fan Bao Chongxuan Li Jiacheng Sun Jun Zhu 0001 Bo Zhang 0010 Estimating the Optimal Covariance with Imperfect Mean in Diffusion Probabilistic Models. 2022 abs/2206.07309 CoRR https://doi.org/10.48550/arXiv.2206.07309 db/journals/corr/corr2206.html#abs-2206-07309

Cheng Lu 0011 Kaiwen Zheng 0003 Fan Bao Jianfei Chen 0001 Chongxuan Li Jun Zhu 0001 Maximum Likelihood Training for Score-Based Diffusion ODEs by High-Order Denoising Score Matching. 2022 abs/2206.08265 CoRR https://doi.org/10.48550/arXiv.2206.08265 db/journals/corr/corr2206.html#abs-2206-08265

Min Zhao 0013 Fan Bao Chongxuan Li Jun Zhu 0001 EGSDE: Unpaired Image-to-Image Translation via Energy-Guided Stochastic Differential Equations. 2022 abs/2207.06635 CoRR https://doi.org/10.48550/arXiv.2207.06635 db/journals/corr/corr2207.html#abs-2207-06635

Yong Zhong Hongtao Liu 0007 Xiaodong Liu Fan Bao Weiran Shen Chongxuan Li Deep Generative Modeling on Limited Data with Regularization by Nontransferable Pre-trained Models. 2022 abs/2208.14133 CoRR https://doi.org/10.48550/arXiv.2208.14133 db/journals/corr/corr2208.html#abs-2208-14133

Fan Bao Chongxuan Li Yue Cao Jun Zhu 0001 All are Worth Words: a ViT Backbone for Score-based Diffusion Models. 2022 abs/2209.12152 CoRR https://doi.org/10.48550/arXiv.2209.12152 db/journals/corr/corr2209.html#abs-2209-12152

Fan Bao Min Zhao 0013 Zhongkai Hao Peiyao Li Chongxuan Li Jun Zhu 0001 Equivariant Energy-Guided SDE for Inverse Molecular Design. 2022 abs/2209.15408 CoRR https://doi.org/10.48550/arXiv.2209.15408 db/journals/corr/corr2209.html#abs-2209-15408

Cheng Lu 0011 Yuhao Zhou Fan Bao Jianfei Chen 0001 Chongxuan Li Jun Zhu 0001 DPM-Solver++: Fast Solver for Guided Sampling of Diffusion Probabilistic Models. 2022 abs/2211.01095 CoRR https://doi.org/10.48550/arXiv.2211.01095 db/journals/corr/corr2211.html#abs-2211-01095

Fan Bao Chongxuan Li Jiacheng Sun Jun Zhu 0001 Why Are Conditional Generative Models Better Than Unconditional Ones? 2022 abs/2212.00362 CoRR https://doi.org/10.48550/arXiv.2212.00362 db/journals/corr/corr2212.html#abs-2212-00362

Fan Bao Kun Xu 0004 Chongxuan Li Lanqing Hong Jun Zhu 0001 Bo Zhang 0010 Variational (Gradient) Estimate of the Score Function in Energy-based Latent Variable Models. 651-661 2021 ICML http://proceedings.mlr.press/v139/bao21b.html conf/icml/2021 db/conf/icml/icml2021.html#Bao0LHZ021 Fan Bao Guoqiang Wu Chongxuan Li Jun Zhu 0001 Bo Zhang 0010 Stability and Generalization of Bilevel Programming in Hyperparameter Optimization. 4529-4541 2021 NeurIPS https://proceedings.neurips.cc/paper/2021/hash/2406a0a94c80406914ff2f6c9fdd67d5-Abstract.html conf/nips/2021 db/conf/nips/neurips2021.html#BaoWLZZ21

Fan Bao Guoqiang Wu Chongxuan Li Jun Zhu 0001 Bo Zhang 0010 Stability and Generalization of Bilevel Programming in Hyperparameter Optimization. 2021 abs/2106.04188 CoRR https://arxiv.org/abs/2106.04188 db/journals/corr/corr2106.html#abs-2106-04188

Fan Bao Chongxuan Li Taufik Xu Hang Su 0006 Jun Zhu 0001 Bo Zhang 0010 Bi-level Score Matching for Learning Energy-based Latent Variable Models. 2020 NeurIPS https://proceedings.neurips.cc/paper/2020/hash/d25a34b9c2a87db380ecd7f7115882ec-Abstract.html conf/nips/2020 db/conf/nips/neurips2020.html#BaoLX00020

Fan Bao Chongxuan Li Kun Xu 0004 Hang Su 0006 Jun Zhu 0001 Bo Zhang 0010 Bi-level Score Matching for Learning Energy-based Latent Variable Models. 2020 abs/2010.07856 CoRR https://arxiv.org/abs/2010.07856 db/journals/corr/corr2010.html#abs-2010-07856

Fan Bao Kun Xu 0004 Chongxuan Li Lanqing Hong Jun Zhu 0001 Bo Zhang 0010 Variational (Gradient) Estimate of the Score Function in Energy-based Latent Variable Models. 2020 abs/2010.08258 CoRR https://arxiv.org/abs/2010.08258 db/journals/corr/corr2010.html#abs-2010-08258

Yinpeng Dong Fan Bao Hang Su 0006 Jun Zhu 0001 Towards Interpretable Deep Neural Networks by Leveraging Adversarial Examples. 2019 abs/1901.09035 CoRR http://arxiv.org/abs/1901.09035 db/journals/corr/corr1901.html#abs-1901-09035

Fan Bao Hang Su 0006 Jun Zhu 0001 Boosting Generative Models by Leveraging Cascaded Meta-Models. 2019 abs/1905.04534 CoRR http://arxiv.org/abs/1905.04534 db/journals/corr/corr1905.html#abs-1905-04534

Yinpeng Dong Hang Su 0006 Jun Zhu 0001 Fan Bao Towards Interpretable Deep Neural Networks by Leveraging Adversarial Examples. 2017 abs/1708.05493 CoRR http://arxiv.org/abs/1708.05493 db/journals/corr/corr1708.html#abs-1708-05493

Chi-Han Peng Yong-Liang Yang Fan Bao Daniel Fink Dong-Ming Yan 0001 Peter Wonka Niloy J. Mitra Computational network design from functional specifications. 131:1-131:12 2016 35 ACM Trans. Graph. 4 https://doi.org/10.1145/2897824.2925935 db/journals/tog/tog35.html#YangYWM16

Chi-Han Peng Niloy J. Mitra Fan Bao Dong-Ming Yan 0001 Peter Wonka Computational Network Design from Functional Specifications. 2015 abs/1510.09203 CoRR http://arxiv.org/abs/1510.09203 db/journals/corr/corr1510.html#PengMBYW15

Fan Bao Generating and Exploring Design Variations for Architectural and Urban Layouts. 2014 Arizona State University, Tempe, USA https://hdl.handle.net/2286/R.I.25935 https://www.base-search.net/Record/772cc4c2036b84e662775ee43d1e9f671426ccc9f6e75af1c6aacf82b47741ca base-search.net (ftarizonastateun:item:25935)

Fan Bao Michael Schwarz 0003 Peter Wonka Procedural facade variations from a single layout. 8:1-8:13 2013 32 ACM Trans. Graph. 1 https://doi.org/10.1145/2421636.2421644 db/journals/tog/tog32.html#BaoSW13

Fan Bao Dong-Ming Yan 0001 Niloy J. Mitra Peter Wonka Generating and exploring good building layouts. 122:1-122:10 2013 32 ACM Trans. Graph. 4 https://doi.org/10.1145/2461912.2461977 https://www.wikidata.org/entity/Q125699532 db/journals/tog/tog32.html#BaoYMW13

Yuanyuan Li Fan Bao Eugene Zhang Yoshihiro Kobayashi Peter Wonka Geometry Synthesis on Surfaces Using Field-Guided Shape Grammars. 231-243 2011 17 IEEE Trans. Vis. Comput. Graph. 2 https://doi.org/10.1109/TVCG.2010.36 http://doi.ieeecomputersociety.org/10.1109/TVCG.2010.36 https://www.wikidata.org/entity/Q82846132 db/journals/tvcg/tvcg17.html#LiBZKW11

Fan Bao Yankui Sun Xiaolin Tian 0001 Zesheng Tang 3D Head Reconstruction and Color Visualization of Chinese Visible Human. 262-269 2007 MIMI https://doi.org/10.1007/978-3-540-79490-5_32 conf/mimi/2007 db/conf/mimi/mimi2007.html#BaoSTT07 Hongzhe Bi Mengchen Cai Yue Cao Jianfei Chen 0001 Zehua Chen Rongxu Cui Yinpeng Dong Chao Du Yao Feng 0002 Daniel Fink Hanzhong Guo Zhongkai Hao Guande He Lanqing Hong Shuhe Huang Kiro Jing Yoshihiro Kobayashi Chang Li Chongxuan Li James Li Peiyao Li Yuanyuan Li Haitian Liu Hongtao Liu Hongtao Liu 0007 Jiabao Liu Louis Liu Shilong Liu 0004 Xiaodong Liu Cheng Lu 0011 Niloy J. Mitra Shentong Mo Shen Nie Jingrui Pang Tianyu Pang Chihan PengChi-Han Peng Shi Pu 0002 Yinze Rong Michael Schwarz 0003 Weiran Shen Hang Su 0006 Jiacheng Sun Yankui Sun Hengkai Tan Zesheng Tang MotuBrain Team Xiaolin Tian 0001 Rongzhen Wang Runqing Wang Yaole Wang Yikai Wang 0001 Zeyuan Wang Zhengyi Wang Peter Wonka Guoqiang Wu Chendong Xiang Kun Xu 0004 Taufik Xu Kaiwen Xue Dong-Ming Yan 0001 Shuicheng Yan Yongliang YangYong-Liang Yang Zebin You Gang Yue Bo Zhang 0010 Eugene Zhang Min Zhao 0013 Ruowen Zhao Chenyu Zheng Kaiwen Zheng 0003 Yong Zhong Yuhao Zhou Hongzhou Zhu Jun Zhu Jun Zhu 0001