This paper develops a measurement pipeline that recovers operational obligations, organizes their workflow context, maps testcases using both user prompts and initial resource states, and produces an auditable coverage report, which measures how completely a Skill’s test suite covers its operational test obligations.
From YAML-first specifications that decouple contents, placement, behavior, and agent exposure, MagicSim constructs diverse executable worlds spanning task families, interaction regimes, physics, layouts, sensors, avatars, and robot embodiments in one reset-and-step loop.
SoftNav is introduced, which injects entity-level 3D continuous representations -- one token per detected object or frontier -- into a VLM's hidden space as soft tokens through a lightweight projector, enabling transferable navigation with minimal training.
Yi Wu, Junjie An, Xiao Liu et al.· arXiv.org· 0 citations
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