# Self Forcing: Bridging the Train-Test Gap in Autoregressive Video Diffusion

arXiv: https://arxiv.org/abs/2506.08009 · HTML: https://mlsanity.com/paper/2506.08009/

## Key facts

- Cited by 625 papers in the map (data through 14 Oct 2026).
- Placed in Video generation, one of 14 directions in Diffusion models.
- Builds on 105 of its 109 references that are in the map.
- First posted on arXiv 9 Jun 2025.

## Placed in

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

## Builds on (most cited first, 30 of 105)

- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Qwen2.5 Technical Report](https://mlsanity.com/paper/2412.15115/) (2024)
- [Mamba: Linear-Time Sequence Modeling with Selective State Spaces](https://mlsanity.com/paper/2312.00752/) (2023)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flow](https://mlsanity.com/paper/2209.03003/) (2022)
- [Wan: Open and Advanced Large-Scale Video Generative Models](https://mlsanity.com/paper/2503.20314/) (2025)
- [Stable Video Diffusion: Scaling Latent Video Diffusion Models to Large Datasets](https://mlsanity.com/paper/2311.15127/) (2023)
- [Video Diffusion Models](https://mlsanity.com/paper/2204.03458/) (2022)
- [CogVideoX: Text-to-Video Diffusion Models with An Expert Transformer](https://mlsanity.com/paper/2408.06072/) (2024)
- [Efficient Streaming Language Models with Attention Sinks](https://mlsanity.com/paper/2309.17453/) (2023)
- [Consistency Models](https://mlsanity.com/paper/2303.01469/) (2023)
- [VBench: Comprehensive Benchmark Suite for Video Generative Models](https://mlsanity.com/paper/2311.17982/) (2023)
- [Imagen Video: High Definition Video Generation with Diffusion Models](https://mlsanity.com/paper/2210.02303/) (2022)
- [HunyuanVideo: A Systematic Framework For Large Video Generative Models](https://mlsanity.com/paper/2412.03603/) (2024)
- [Align your Latents: High-Resolution Video Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2304.08818/) (2023)
- [ProlificDreamer: High-Fidelity and Diverse Text-to-3D Generation with Variational Score Distillation](https://mlsanity.com/paper/2305.16213/) (2023)
- [Variational Diffusion Models](https://mlsanity.com/paper/2107.00630/) (2021)
- [One-step Diffusion with Distribution Matching Distillation](https://mlsanity.com/paper/2311.18828/) (2023)
- [CogVideo: Large-scale Pretraining for Text-to-Video Generation via Transformers](https://mlsanity.com/paper/2205.15868/) (2022)
- [Genie: Generative Interactive Environments](https://mlsanity.com/paper/2402.15391/) (2024)
- [Improved Distribution Matching Distillation for Fast Image Synthesis](https://mlsanity.com/paper/2405.14867/) (2024)
- [Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion](https://mlsanity.com/paper/2407.01392/) (2024)
- [Which Training Methods for GANs do actually Converge?](https://mlsanity.com/paper/1801.04406/) (2018)
- [Maximum Likelihood Training of Score-Based Diffusion Models](https://mlsanity.com/paper/2101.09258/) (2021)
- [VideoGPT: Video Generation using VQ-VAE and Transformers](https://mlsanity.com/paper/2104.10157/) (2021)
- [Autoregressive Image Generation without Vector Quantization](https://mlsanity.com/paper/2406.11838/) (2024)
- [Movie Gen: A Cast of Media Foundation Models](https://mlsanity.com/paper/2410.13720/) (2024)
- [Language Model Beats Diffusion -- Tokenizer is Key to Visual Generation](https://mlsanity.com/paper/2310.05737/) (2023)

## Built on by (most cited first, 30 of 625)

- [World Action Models are Zero-shot Policies](https://mlsanity.com/paper/2602.15922/) (2026)
- [LongLive: Real-time Interactive Long Video Generation](https://mlsanity.com/paper/2509.22622/) (2025)
- [Rolling Forcing: Autoregressive Long Video Diffusion in Real Time](https://mlsanity.com/paper/2509.25161/) (2025)
- [Self-Forcing++: Towards Minute-Scale High-Quality Video Generation](https://mlsanity.com/paper/2510.02283/) (2025)
- [Matrix-game 2.0: An open-source real-time and streaming interactive world model](https://mlsanity.com/paper/2508.13009/) (2025)
- [Causal Forcing: Autoregressive Diffusion Distillation Done Right for High-Quality Real-Time Interactive Video Generation](https://mlsanity.com/paper/2602.02214/) (2026)
- [WorldPlay: Towards Long-Term Geometric Consistency for Real-Time Interactive World Modeling](https://mlsanity.com/paper/2512.14614/) (2025)
- [Advancing Open-source World Models](https://mlsanity.com/paper/2601.20540/) (2026)
- [DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos](https://mlsanity.com/paper/2602.06949/) (2026)
- [Diffusion LLMs Can Do Faster-Than-AR Inference via Discrete Diffusion Forcing](https://mlsanity.com/paper/2508.09192/) (2025)
- [Matrix-Game 3.0: Real-Time and Streaming Interactive World Model with Long-Horizon Memory](https://mlsanity.com/paper/2604.08995/) (2026)
- [Geometry Forcing: Marrying Video Diffusion and 3D Representation for Consistent World Modeling](https://mlsanity.com/paper/2507.07982/) (2025)
- [RELIC: Interactive Video World Model with Long-Horizon Memory](https://mlsanity.com/paper/2512.04040/) (2025)
- [SANA-Video: Efficient Video Generation with Block Linear Diffusion Transformer](https://mlsanity.com/paper/2509.24695/) (2025)
- [Large Scale Diffusion Distillation via Score-Regularized Continuous-Time Consistency](https://mlsanity.com/paper/2510.08431/) (2025)
- [Infinity-RoPE: Action-Controllable Infinite Video Generation Emerges From Autoregressive Self-Rollout](https://mlsanity.com/paper/2511.20649/) (2025)
- [Reward Forcing: Efficient Streaming Video Generation with Rewarded Distribution Matching Distillation](https://mlsanity.com/paper/2512.04678/) (2025)
- [Deep Forcing: Training-Free Long Video Generation with Deep Sink and Participative Compression](https://mlsanity.com/paper/2512.05081/) (2025)
- [MotionStream: Real-Time Video Generation with Interactive Motion Controls](https://mlsanity.com/paper/2511.01266/) (2025)
- [Stable Video Infinity: Infinite-Length Video Generation with Error Recycling](https://mlsanity.com/paper/2510.09212/) (2025)
- [Large Video Planner Enables Generalizable Robot Control](https://mlsanity.com/paper/2512.15840/) (2025)
- [Helios: Real Real-Time Long Video Generation Model](https://mlsanity.com/paper/2603.04379/) (2026)
- [Hunyuan-GameCraft-2: Instruction-following Interactive Game World Model](https://mlsanity.com/paper/2511.23429/) (2025)
- [Context Forcing: Consistent Autoregressive Video Generation with Long Context](https://mlsanity.com/paper/2602.06028/) (2026)
- [Causal Forcing++: Scalable Few-Step Autoregressive Diffusion Distillation for Real-Time Interactive Video Generation](https://mlsanity.com/paper/2605.15141/) (2026)
- [SANA-WM: Efficient Minute-Scale World Modeling with Hybrid Linear Diffusion Transformer](https://mlsanity.com/paper/2605.15178/) (2026)
- [Memory Forcing: Spatio-Temporal Memory for Consistent Scene Generation on Minecraft](https://mlsanity.com/paper/2510.03198/) (2025)
- [End-to-End Training for Autoregressive Video Diffusion via Self-Resampling](https://mlsanity.com/paper/2512.15702/) (2025)
- [WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL](https://mlsanity.com/paper/2602.13977/) (2026)
- [StreamDiT: Real-Time Streaming Text-to-Video Generation](https://mlsanity.com/paper/2507.03745/) (2025)

## Abstract (arXiv)

We introduce Self Forcing, a novel training paradigm for autoregressive video diffusion models. It addresses the longstanding issue of exposure bias, where models trained on ground-truth context must generate sequences conditioned on their own imperfect outputs during inference. Unlike prior methods that denoise future frames based on ground-truth context frames, Self Forcing conditions each frame's generation on previously self-generated outputs by performing autoregressive rollout with key-value (KV) caching during training. This strategy enables supervision through a holistic loss at the video level that directly evaluates the quality of the entire generated sequence, rather than relying solely on traditional frame-wise objectives. To ensure training efficiency, we employ a few-step diffusion model along with a stochastic gradient truncation strategy, effectively balancing computational cost and performance. We further introduce a rolling KV cache mechanism that enables efficient autoregressive video extrapolation. Extensive experiments demonstrate that our approach achieves real-time streaming video generation with sub-second latency on a single GPU, while matching or even surpassing the generation quality of significantly slower and non-causal diffusion models. Project website: http://self-forcing.github.io/