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Generative simulation can automate robot environment construction, but physically valid environments are not necessarily useful for training. The challenge is to identify environments that address a policy's failures and supervision that helps it overcome them. We introduce CoDA, a framework in which a simulation data...
Results show that AssemState improves operation-structure recovery and selected local pose metrics, while MLLMs remain limited for spatial relationship reasoning.
LLM-based agents are increasingly capable of generating complex 3D structures, with the potential to reshape how objects are designed and realized in the physical world. Yet, producing elegant geometry is fundamentally different from producing objects that can be built and perform their intended functions. Existing eva...
High-resolution 3D generation increasingly relies on voxel latents and multi-stage pipelines that first predict active structure and then synthesize local geometry. While effective, this design fragments continuous surfaces into many local tokens, inflates generation cost, and often weakens topological consistency for...
This work proposes ChronoVision, a multimodal framework designed to align visual logic with latent imagery, and introduces Vbvr-VQA, a novel dataset that evaluates temporal tracking by reformulating video reasoning into a strict image-ordering task.
This work proposes FineMoLA, a weakly supervised framework that learns fine-grained frame--phrase correspondence directly from clip-level annotations, and efficiently infers pseudo frame-level alignments without human labeling.
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