# Tora: Trajectory-oriented Diffusion Transformer for Video Generation

arXiv: https://arxiv.org/abs/2407.21705 · HTML: https://mlsanity.com/paper/2407.21705/

## Key facts

- Cited by 164 papers in the map (data through 14 Oct 2026).
- Placed in Video generation, one of 14 directions in Diffusion models.
- Builds on 44 of its 59 references that are in the map.
- First posted on arXiv 31 Jul 2024.

## Placed in

- Diffusion models / [Video generation](https://mlsanity.com/diffusion/video-generation/)

## Builds on (most cited first, 30 of 44)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Hierarchical Text-Conditional Image Generation with CLIP Latents](https://mlsanity.com/paper/2204.06125/) (2022)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [SDXL: Improving Latent Diffusion Models for High-Resolution Image Synthesis](https://mlsanity.com/paper/2307.01952/) (2023)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [FiLM: Visual Reasoning with a General Conditioning Layer](https://mlsanity.com/paper/1709.07871/) (2017)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [Imagen Video: High Definition Video Generation with Diffusion Models](https://mlsanity.com/paper/2210.02303/) (2022)
- [Make-A-Video: Text-to-Video Generation without Text-Video Data](https://mlsanity.com/paper/2209.14792/) (2022)
- [T2I-Adapter: Learning Adapters to Dig out More Controllable Ability for Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.08453/) (2023)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [The 2017 DAVIS Challenge on Video Object Segmentation](https://mlsanity.com/paper/1704.00675/) (2017)
- [A Large Dataset to Train Convolutional Networks for Disparity, Optical Flow, and Scene Flow Estimation](https://mlsanity.com/paper/1512.02134/) (2015)
- [Text2Video-Zero: Text-to-Image Diffusion Models are Zero-Shot Video Generators](https://mlsanity.com/paper/2303.13439/) (2023)
- [MotionCtrl: A Unified and Flexible Motion Controller for Video Generation](https://mlsanity.com/paper/2312.03641/) (2023)
- [VideoCrafter1: Open Diffusion Models for High-Quality Video Generation](https://mlsanity.com/paper/2310.19512/) (2023)
- [VideoComposer: Compositional Video Synthesis with Motion Controllability](https://mlsanity.com/paper/2306.02018/) (2023)
- [Lumiere: A Space-Time Diffusion Model for Video Generation](https://mlsanity.com/paper/2401.12945/) (2024)
- [Panda-70M: Captioning 70M Videos with Multiple Cross-Modality Teachers](https://mlsanity.com/paper/2402.19479/) (2024)
- [Virtual KITTI 2](https://mlsanity.com/paper/2001.10773/) (2020)
- [I2VGen-XL: High-Quality Image-to-Video Synthesis via Cascaded Diffusion Models](https://mlsanity.com/paper/2311.04145/) (2023)
- [MAGVIT: Masked Generative Video Transformer](https://mlsanity.com/paper/2212.05199/) (2022)
- [ControlVideo: Training-free Controllable Text-to-Video Generation](https://mlsanity.com/paper/2305.13077/) (2023)
- [PLLaVA : Parameter-free LLaVA Extension from Images to Videos for Video Dense Captioning](https://mlsanity.com/paper/2404.16994/) (2024)
- [Unifying Flow, Stereo and Depth Estimation](https://mlsanity.com/paper/2211.05783/) (2022)
- [DragNUWA: Fine-grained Control in Video Generation by Integrating Text, Image, and Trajectory](https://mlsanity.com/paper/2308.08089/) (2023)

## Built on by (most cited first, 30 of 164)

- [Motion Prompting: Controlling Video Generation with Motion Trajectories](https://mlsanity.com/paper/2412.02700/) (2024)
- [Identity-Preserving Text-to-Video Generation by Frequency Decomposition](https://mlsanity.com/paper/2411.17440/) (2024)
- [AC3D: Analyzing and Improving 3D Camera Control in Video Diffusion Transformers](https://mlsanity.com/paper/2411.18673/) (2024)
- [DimensionX: Create Any 3D and 4D Scenes from a Single Image with Controllable Video Diffusion](https://mlsanity.com/paper/2411.04928/) (2024)
- [Hallo3: Highly Dynamic and Realistic Portrait Image Animation with Video Diffusion Transformer](https://mlsanity.com/paper/2412.00733/) (2024)
- [Adaptive Caching for Faster Video Generation with Diffusion Transformers](https://mlsanity.com/paper/2411.02397/) (2024)
- [Controllable Video Generation: A Survey](https://mlsanity.com/paper/2507.16869/) (2025)
- [Hallo2: Long-Duration and High-Resolution Audio-Driven Portrait Image Animation](https://mlsanity.com/paper/2410.07718/) (2024)
- [PointWorld: Scaling 3D World Models for In-The-Wild Robotic Manipulation](https://mlsanity.com/paper/2601.03782/) (2026)
- [OpenHumanVid: A Large-Scale High-Quality Dataset for Enhancing Human-Centric Video Generation](https://mlsanity.com/paper/2412.00115/) (2024)
- [MotionStream: Real-Time Video Generation with Interactive Motion Controls](https://mlsanity.com/paper/2511.01266/) (2025)
- [CineMaster: A 3D-Aware and Controllable Framework for Cinematic Text-to-Video Generation](https://mlsanity.com/paper/2502.08639/) (2025)
- [3DTrajMaster: Mastering 3D Trajectory for Multi-Entity Motion in Video Generation](https://mlsanity.com/paper/2412.07759/) (2024)
- [SG-I2V: Self-Guided Trajectory Control in Image-to-Video Generation](https://mlsanity.com/paper/2411.04989/) (2024)
- [SeedVR: Seeding Infinity in Diffusion Transformer Towards Generic Video Restoration](https://mlsanity.com/paper/2501.01320/) (2025)
- [MagicMotion: Controllable Video Generation with Dense-to-Sparse Trajectory Guidance](https://mlsanity.com/paper/2503.16421/) (2025)
- [Force Prompting: Video Generation Models Can Learn and Generalize Physics-based Control Signals](https://mlsanity.com/paper/2505.19386/) (2025)
- [PhysMotion: Physics-Grounded Dynamics From a Single Image](https://mlsanity.com/paper/2411.17189/) (2024)
- [WonderPlay: Dynamic 3D Scene Generation from a Single Image and Actions](https://mlsanity.com/paper/2505.18151/) (2025)
- [Wan-Move: Motion-controllable Video Generation via Latent Trajectory Guidance](https://mlsanity.com/paper/2512.08765/) (2025)
- [PhysAnimator: Physics-Guided Generative Cartoon Animation](https://mlsanity.com/paper/2501.16550/) (2025)
- [ARLON: Boosting Diffusion Transformers with Autoregressive Models for Long Video Generation](https://mlsanity.com/paper/2410.20502/) (2024)
- [NewtonGen: Physics-Consistent and Controllable Text-to-Video Generation via Neural Newtonian Dynamics](https://mlsanity.com/paper/2509.21309/) (2025)
- [Video Motion Transfer with Diffusion Transformers](https://mlsanity.com/paper/2412.07776/) (2024)
- [LeviTor: 3D Trajectory Oriented Image-to-Video Synthesis](https://mlsanity.com/paper/2412.15214/) (2024)
- [HumanDiT: Pose-Guided Diffusion Transformer for Long-form Human Motion Video Generation](https://mlsanity.com/paper/2502.04847/) (2025)
- [MultiShotMaster: A Controllable Multi-Shot Video Generation Framework](https://mlsanity.com/paper/2512.03041/) (2025)
- [Learning Video Generation for Robotic Manipulation with Collaborative Trajectory Control](https://mlsanity.com/paper/2506.01943/) (2025)
- [Exploring the Evolution of Physics Cognition in Video Generation: A Survey](https://mlsanity.com/paper/2503.21765/) (2025)
- [VerseCrafter: Dynamic Realistic Video World Model with 4D Geometric Control](https://mlsanity.com/paper/2601.05138/) (2026)

## Abstract (arXiv)

Recent advancements in Diffusion Transformer (DiT) have demonstrated remarkable proficiency in producing high-quality video content. Nonetheless, the potential of transformer-based diffusion models for effectively generating videos with controllable motion remains an area of limited exploration. This paper introduces Tora, the first trajectory-oriented DiT framework that concurrently integrates textual, visual, and trajectory conditions, thereby enabling scalable video generation with effective motion guidance. Specifically, Tora consists of a Trajectory Extractor (TE), a Spatial-Temporal DiT, and a Motion-guidance Fuser (MGF). The TE encodes arbitrary trajectories into hierarchical spacetime motion patches with a 3D motion compression network. The MGF integrates the motion patches into the DiT blocks to generate consistent videos that accurately follow designated trajectories. Our design aligns seamlessly with DiT's scalability, allowing precise control of video content's dynamics with diverse durations, aspect ratios, and resolutions. Extensive experiments demonstrate that Tora excels in achieving high motion fidelity compared to the foundational DiT model, while also accurately simulating the complex movements of the physical world. Code is made available at https://github.com/alibaba/Tora .