Scene_Generation
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Edit4D: Editable 4D Scene Generation with Textual Control
2026-10-15 10:52:22Chanwoo Kim, Tackgeun You, Hwasup LimAbstract
We introduce Edit4D, an editable text-to-4D scene generation framework that constructs 4D scenes from separate background and dynamic character representations. Recent advances in generative models have enabled text-driven dynamic scene synthesis, but editable 4D scene generation remains challenging due to the need to preserve spatial geometry and temporal dynamics. Existing approaches typically generate holistic scene videos, where the background and dynamic characters are coupled, making object-level editing and flexible camera control difficult. Edit4D addresses these limitations through a stage-specific generation pipeline. Given a user instruction, Edit4D first decomposes it into stage-specific prompts for background, dynamic character, and scene-character composition. Using these prompts, we synthesize multi-view scene images with text-to-image and camera-conditioned generative priors and reconstruct a background 3D Gaussian splatting representation. We then generate a character image, animate it with an image-conditioned video prior, reconstruct a 4D mesh, and bind Gaussian primitives to obtain a character representation. Finally, both components are composed through text-guided segmentation and contact-aware optimization. A global scene refinement is then performed to improve harmonization and rendering consistency. By integrating stage-specific components, Edit4D enables controllable camera motion, flexible object-level editing, and the practical construction of editable 4D scenes. Project page: this https URL
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https://arxiv.org/abs/2610.21668
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OneLA: Learning Many Worlds from Latent Actions
2026-10-14 13:14:53Ziyu Zhu, Zhaoxu Sun, Fan Jiang, Chiyu Wang, Junfeng Ni, Mu XuAbstract
Learning world models across diverse domains calls for a unified control space, yet ac- tion interfaces vary across domains and action annotations are often scarce. Latent ac- tions learned directly from videos offer a promising way to establish such a space without explicit action supervision. However, learning shared latent actions across domains re- mains challenging, as variations in appearance, embodiment, and dynamics can entangle domain-specific visual cues with transferable transition structure. To this end, we intro- duce OneLA, a simple framework that learns continuous latent actions through a shared orthogonal dictionary and a common predictive objective, without task-specific designs or cross-domain alignment losses during latent action pretraining. These latent actions pro- vide a shared conditioning interface for world models, with lightweight adapters mapping native control commands into the same space. Conditioned on latent actions and the cur- rent visual state, the world model predicts context-dependent transitions for controllable rollout. OneLA improves action readout across domains and reduces action cycle-transfer rotation error by 24.8% over the strongest evaluated baseline. A joint-training comparison further shows a 20.5% improvement in Human Preference Score v3 (HPSv3) for real- scene generation. These results suggest a path toward general-purpose world models that learn from diverse videos and support flexible control through latent action space.
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https://arxiv.org/abs/2610.20160
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CoTL: Compact Token Learning for 3D Scene Representation
2026-10-14 13:12:53Han Liang, Sibo Wu, Anpei Chen, R\"udiger WestermannAbstract
We present CoTL, a framework that learns a compact set of tokens that preserves scene geometry and appearance from unposed multi-view images. Our encoder compresses the input images into small per-view sets of latent tokens that aggregate information across views to form a view-consistent scene representation. Each additional view expands the representation with only a small, resolution-independent set of tokens, allowing its capacity to grow with the available observations. To force this compact bottleneck to retain sufficient scene information, a query-based Gaussian decoder uses scene-independent queries to attend to the learned tokens and recover an explicit, renderable set of 3D Gaussian primitives. Novel-view rendering supervision trains the compact representation end to end through the reconstructed Gaussian scene. Experiments on RealEstate10K and ACID show that the resulting compact, unstructured token set supports competitive novel-view synthesis and can serve as the latent space of a generative model for 3D Gaussian scene generation. Together, these results show that 3D Gaussian reconstruction is an effective objective for compact scene representation learning and the learned token space provides a basis for broader downstream tasks in 3D vision.
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https://arxiv.org/abs/2610.18446
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SceneAE: Scene Generation and Reconstruction in Queryable 3D-Anchored Latent Space
2026-10-14 07:37:31Shuofeng Sun, Wenzhao Zheng, Yunpeng Zhang, Yi Wu, Linqing Zhao, Haibin YanAbstract
Recent video world models have increasingly adopted 3D memory mechanisms to integrate historical observations into a lightweight and persistent scene representation. This naturally raises a complementary question: if 3D representations can serve as an effective mechanism for memorizing observed scenes, can they also be directly used as the latent space for reconstructing and generating scenes? Motivated by this idea, we represent a scene as a compact and unstructured 3D-anchored latent space (\textbf{SceneAE}). Each latent combines an explicit 3D position with an implicit content feature and is spatially grounded to describe its local scene region, forming a sparse latent point cloud. Unlike conventional video-VAE latents that describe how a scene appears from particular viewpoints, our representation directly describes the scene itself, making it naturally applicable to both reconstruction and generation. For reconstruction, once the scene has been generated, our persistent 3D representation can be projected and decoded into RGB-D observations by different target cameras, without the need to regenerate a video for each new camera trajectory. For generation, we leverage the geometry-content separation to first generate camera-controlled 3D geometry and then synthesize content conditioned on it, reducing camera-appearance entanglement and improving camera controllability. Experiments show that this 3D latent achieves superior generation quality, computational cost, and camera controllability.
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https://arxiv.org/abs/2610.19708
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YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation
2026-10-13 00:33:21Hiroki Nishizawa, Takehiko Ohkawa, Nicola Scianca, Tatsuya Matsushima, Shigeo Morishima, Kei OtaAbstract
Evaluating VLA policies on real robots is costly, time-consuming, and difficult to reproduce, making real-to-sim simulation essential for scalable evaluation. While 3D Gaussian Splatting (3DGS) enables rapid real-to-sim scene generation, the reconstruction quality required for reliable policy evaluation remains unquantified. In particular, policies relying on wrist-mounted fisheye cameras (e.g., YUBI handheld gripper data) are heavily exposed to visual artifacts (holes, floaters) in wide-angle views, directly degrading task performance. To address this, we present YUBI-Real2Sim, a unified framework for 3DGS-based scene reconstruction and real-to-sim policy evaluation under dual fisheye wrist views. We develop an integrated pipeline combining 200-degree fisheye camera capture, 3DGS training, 3D foundation models for object modeling, and MuJoCo-based physical simulation, reproducing the observed real-world policy ordering in eight of nine scene-task comparisons. Using this framework, we construct a benchmark across two bimanual robot platforms, three scenes, three tasks, and dual pi0.5-based policies. This systematically measures real-to-sim rank agreement and evaluates policy sensitivity against counterfactual 3DGS artifacts (ceiling holes, floaters, warping) and capture disturbances. We further analyze whether novel-view quality scores can indicate policy-ranking reliability under a scene-held-out evaluation protocol. The results show task-dependent performance and limitations of quality-based reliability prediction, highlighting the need to assess reconstruction quality when using Real2Sim for policy evaluation. These results do not yet establish a generally reliable scene-acceptance rule. Project Page: this https URL.
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https://arxiv.org/abs/2610.17521
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CompactSplat: Spatially Adaptive Gaussian Distribution for Feedforward Scene Reconstruction
2026-10-09 08:04:45Bing He, Jingnan Gao, Yunuo Chen, Zhengxue Cheng, Rong Xie, Li Song, Wenjun ZhangAbstract
Reconstructing 3D scenes from sparse views without per-scene optimization remains highly challenging, especially for recovering accurate geometry and fine textures. While recent feedforward approaches leverage generalizable 3D Gaussian Splatting (3DGS) for scene generation, they typically assign one or multiple Gaussians to each pixel. Such uniform allocation not only produces highly redundant representations by wasting primitives in homogeneous areas, but also fails to exploit the inherent geometric priors of planar surfaces, often resulting in sub-optimal structural modeling. To address these limitations, we present CompactSplat, a novel feedforward framework that enables a content-aware allocation of 3D Gaussians. By integrating texture-guided spatial partitioning with hierarchical sampling, CompactSplat adaptively distributes primitives - concentrating dense Gaussians in complex regions while tiling flat areas with expanded, scale-modulated primitives. Moreover, our framework inherently supports dynamic sparsity control at inference time, enabling seamless trade-offs between rendering fidelity and memory footprint without requiring network retraining. Extensive experiments on RealEstate10K, DL3DV, and ScanNet demonstrate that CompactSplat consistently outperforms prior methods on both standard metrics and high-resolution rendering consistency, achieving high-fidelity reconstructions with significantly fewer primitives.
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https://arxiv.org/abs/2610.13177
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Tetris3D: 3D Scene Generation With Objects That Fit Together
2026-10-07 17:59:48Jaeyeong Kim, Jinhyuk Jang, Jongmin Lee, Kyehong Park, Seungryong KimAbstract
We propose Tetris3D, a generative framework for single-image 3D scene reconstruction that recovers objects which are physically and geometrically coherent as a scene. Existing methods often generate objects independently or couple them implicitly, providing limited guidance for ensuring fine-grained spatial compatibility between neighboring objects that interact with one another. To address this, we explicitly condition the generation of each object on the geometry of surrounding objects and their physical relationships, guiding its shape and pose to remain geometrically and physically plausible within the scene. Moreover, we introduce ComOb, a physics simulation-based dataset of 1.2M scenes featuring physical interactions across diverse object categories, with per-object meshes and pairwise physical relation annotations. Comprehensive experiments on synthetic and realworld scenes show that Tetris3D recovers coherent object shapes and poses even when interacting regions are occluded, and achieves state-of-the-art performance in both generation quality and physical stability.
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https://arxiv.org/abs/2610.10539
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Building Rome from a Single Image
2026-10-06 17:59:50Jiraphon Yenphraphai, Fang Li, Tianshuo Xu, Depu Meng, Quentin Herau, Yihan Hu, Raymond A. Yeh, Wei ZhanAbstract
Single-image scene generation aims to produce a complete 3D scene mesh from a single image, including surfaces the camera did not observe. While pretrained 3D object generators encode a strong shape prior, they are mainly designed for isolated objects in a fixed canonical volume and focus mostly on indoor scenes, since diverse 3D data for outdoor scenes are quite limited. In this work, we present a method that redesigns such an object-centric generator, e.g., Trellis 2, to work on both indoor and outdoor scenes while retaining its prior. We accomplish this by (a) partitioning the scene into adaptive chunks that scale relative to the distance to the camera; nearby chunks have a smaller size to keep the finer detail, while distant structures, e.g., buildings, are covered by large chunks; (b) making the generator capture explicit 2D-3D correspondence by lifting image features and making the model aware of the free space, observed surface, and unobserved region; (c) synthesizing around 4,000 outdoor scenes to broaden the training data, as existing scene datasets are largely indoor. Experiments on Tanks and Temples, ScanNet++, and in-the-wild images show that our method outperforms all baselines in geometric accuracy and perceptual quality across both indoor and outdoor scenes.
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https://arxiv.org/abs/2610.08790
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ChronoWorld: Camera-Controlled Consistent 4D World Generation via Spatiotemporal Cues and Geometric Reflections
2026-10-06 09:12:34Xiaoyu Zhou, Dingwei Xian, Zhenyu Wang, Yajiao Xiong, Yongtao Wang, Ming-Hsuan YangAbstract
While existing camera-controllable video generation models can produce visually compelling sequences, preserving intrinsic 4D spatiotemporal coherence remains challenging. To address this limitation, we propose ChronoWorld, an "Observation--State--Reflection" framework that leverages spatiotemporal causal cues and reconstruction priors to generate globally consistent, free-view 4D scenes. Given a context video, we introduce a Spatiotemporal Epipolar Causal Attention mechanism that enforces multi-view epipolar constraints and temporal causality throughout the generation process. In addition, we develop a reconstruction-driven geometric reflection pipeline with a 4D retrieval strategy to enable dynamic self-assessment and correction of generated outputs, improving consistency and accuracy. Extensive experiments show that ChronoWorld achieves state-of-the-art performance in spatiotemporally consistent, cinematic-quality 4D scene generation, with strong generalization and high-fidelity geometry across diverse scenarios.
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https://arxiv.org/abs/2610.06687
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EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation
2026-10-06 08:34:28Yikai Qin, Yifei Deng, Mingjian Liang, Wenxuan Song, Zepeng Lin, Zhiyi Jiang, Jiajun Fu, Qiao Sun, Huashuo Lei, Xicheng Gong, Jiayi Chen, Han Zhao, Shuanghao Bai, Pengxiang Ding, Pengwei Wang, Haoang LiAbstract
Scaling robotic foundation models requires diverse training data and reliable evaluation environments. Simulation offers a scalable solution, yet existing generation pipelines remain constrained by predefined assets and skills, a disconnect between scene generation and task generation, and limited support for complex embodiments and physics. We introduce EmbodiedSmith, a framework for scalable embodied data generation through recursive self-improvement (RSI). EmbodiedSmith unifies asset, scene, and task generation in a pipeline that supports autonomous creation and language-driven customization. Its core is an agentic refinement loop: scene generation anticipates downstream task requirements, while task generation guides targeted scene edits, allowing scenes and tasks to iteratively improve one another. This joint refinement improves task generation success, including for long-horizon tasks. The framework further supports mobile manipulators, humanoids, and dexterous hands, as well as interactions involving deformable objects and fluids, broadening the range of behaviors and physical phenomena represented in generated data. Together, these capabilities provide a flexible simulation engine for both robot pretraining and evaluation. Extensive experiments validate the quality, diversity, and generation efficiency of the resulting data, while downstream policy experiments demonstrate that increased data diversity improves generalization.
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https://arxiv.org/abs/2610.07969
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DistScene: Object-to-Scene Distillation for 3D Scene Generation
2026-10-03 16:21:52Kunming Luo, Hongyu Yan, Ken Deng, Chengcheng Zhou, Tianyu Liu, Haipeng Li, Haibin Huang, Xuelong Li, Ping TanAbstract
We present DistScene, a framework for single-image compositional 3D scene generation by jointly modeling the environment and individual objects. Unlike existing methods that represent scenes primarily as collections of objects, we model the environment as an explicit scene component to provide geometric context for object placement. Specifically, we introduce Scene-Frame Generation, which jointly generates separate environment and object components in a shared coordinate frame, allowing their geometry and relative placement to be learned together. Then we introduce Object-Centric Refinement to refine each object in a local frame with scene context. Finally, we develop Object-to-Scene Distillation to transfer pretrained object-generation priors to scene generation through automatically composed and rendered synthetic scenes. Evaluations on indoor and outdoor benchmarks demonstrate improved scene-level spatial coherence over the evaluated baselines. Project page: this https URL
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https://arxiv.org/abs/2610.06960
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UniDynamics: Event-RGB Fusion for Unified Future 4D Dynamic Scene Generation
2026-10-02 15:46:03Daikun Liu, Xin Zhan, Teng Wang, Xiaoping Wang, Changyin SunAbstract
We propose UniDynamics, a diffusion-based framework for future 4D dynamic scenes (RGB, depth, and optical flow) generation from a single event-RGB pair, without requiring long histories or control priors as in existing methods, while explicitly modeling future motion fields. The core idea is to leverage event streams to offer an alternative motion prior for single-RGB extrapolation, and to enforce geometric and motion constraints throughout generation via multimodal modeling. Specifically, we design an Event Latent Enhancement (ELE) module to align and enhance event latents into diffusion-injectable conditioning features, providing robust initial motion priors and reliable texture/structure cues. We further introduce a Perceptual Dynamics Space (PDS) embedded in the multi-scale U-Net, which decouples and adaptively interacts depth and flow while continuously feeding back constraints to appearance features, improving geometric-motion consistency for physically plausible and spatiotemporally coherent prediction. Experiments on VKitti2 and DSEC demonstrate state-of-the-art performance, producing high-quality, temporally coherent, and 4D-consistent future predictions, especially under challenging high-speed motion blur.
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https://arxiv.org/abs/2610.03473
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SPHERE: Adaptive VR Indoor Scene Generation via LLM-Enhanced Spatial Preference Learning and Human-in-the-Loop RL
2026-10-01 16:43:27Hyeonmin Lee, Zheng Wei, Kyungmin Kwon, Jumin Seo, Jiwon Park, Hayoung OhAbstract
While Large Language Models (LLMs) advance 3D indoor scene synthesis, current pipelines fail to retain user-specific preferences across sessions, making immersive authoring a repetitive and physically fatiguing process. We present SPHERE, an adaptive VR generation framework that transforms isolated synthesis into continuous human-AI co-creation. SPHERE extracts persistent spatial preferences from natural multimodal interactions (speech and controller edits). To ensure geometric resilience against spatial distortions, it abstracts these raw edits into hierarchical constraints modeling both local functional and global topological contexts. Furthermore, a human-in-the-loop reinforcement learning mechanism dynamically updates retrieval policies based on the user's final edited scenes. A mixed-design user study ($N=42$) and an offline ablation demonstrate that SPHERE significantly reduces corrective edits and physical demand, preventing bias toward shallow object-level traits to yield geometrically resilient, profile-aligned layouts. Ultimately, SPHERE demonstrates how capturing demonstrated spatial logic enables controlled spatial adaptation, establishing a reliable, governed human-AI collaboration framework for immersive authoring. Project page and source code will be available at: this https URL
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https://arxiv.org/abs/2610.02023
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Awomo-SimDataEngine: Agentic Simulation-ReadyWorld Generation
2026-10-01 08:38:29PhysicalRSI Team, Danjiao Ma, Enhui Ma, Haohan Liu, Heng Jia, Hui Shan, Jianhua Xu, Jiahuan Zhang, Jiangdi Xu, Kaiwen Guo, Kaicheng Yu, Linwei Zhang, Liyang Jin, Maochun Luo, Pengyao Niu, Shiwen Li, Shuangyu Feng, Tong Zhang, Tianheng Wang, Xin Wang, Xiangru Huang, Yongqiang Huang, Zhaozhi Wang, Zijian MaAbstract
Generating useful robot-training data requires more than visually plausiblescenes: objects must support interaction, placements must remain physicallyvalid, and tasks must admit repeatable execution. We present\textbf{Awomo-SimDataEngine}, an agentic system that connects asset and scenegeneration to robot demonstration synthesis. Shared asset services providerigid and articulated objects, including structure-grounded part and jointgeneration with ISArt. Scene generation supports two complementary routes:Unravel reconstructs editable scenes from images, while SimForge buildssingle-room and multi-room environments from text. A graph-native harnesscoordinates construction, validation, andbounded repair, routing failures to the responsible module while retainingunaffected scene state. PolicyForge binds validated worlds to tasks and robotembodiments to produce replayable demonstrations. Evaluations cover assetgeometry, scene quality, and downstream policy learning. On MuJoCo-basedLIBERO-Plus, co-training with Isaac Sim demonstrations improves the overallsuccess rate of a World-Action Model (WAM) from $77.17\%$ to $89.43\%$. Goal and spatialsuccess improve by $31.66$ and $6.25$ percentage points, this http URL results support the utility of the generated data for cross-simulatorpolicy training, with more limited gains on long-horizon tasks.
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https://arxiv.org/abs/2610.02274
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Personalized Image Generation with Reasoning and Reflection
2026-09-30 21:30:26Bo Ni, Ngoc N. Tran, Qinwen Ge, Franck Dernoncourt, Seunghyun Yoon, Samyadeep Basu, Sungchul Kim, Puneet Mathur, Nedim Lipka, Tong Yu, Yu Wang, Ryan A. Rossi, Tyler DerrAbstract
Personalized image generation has remained narrowly focused on conditional synthesis from curated visual exemplars, rather than capturing who a user is. In practice, however, a user's personal context is much richer, comprising reviews, posts, images, captions, and metadata accumulated over time. A truly personalized generator should leverage this history to produce images aligned with the user's lifestyle and aesthetic preferences. To this end, we introduce the first unified benchmark for personalized image generation from user histories. The benchmark comprises two complementary tasks and a multi-axis evaluation protocol that assesses target fidelity, visual quality, user distinguishability, semantic alignment with the user's history, and task-specific utility. Grounded in real-world e-commerce and social media settings, the benchmark includes: (1) Personalized Scene Generation, which places a given object in a scene that reflects a user's preferences and lifestyle, motivated by personalized product presentation; and (2) Personalized Creative Generation, which generates a novel image on a specified topic that is faithful to a user's aesthetic and visual identity, motivated by social media content creation. We further propose PEARL, which couples a multimodal reasoner with a frozen image generator in an interleaved reason-reflect loop optimized with differential data reward. Across both tasks, PEARL outperforms strong baselines, achieving an average improvement of 15% across personalization metrics.
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https://arxiv.org/abs/2610.00737
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SPOON: Towards Coherent Compositional 3D Scene Generation from Uncalibrated Multi-view Images
2026-09-30 12:16:23Guibiao Liao, Mochu Xiang, Heng Li, Ken Deng, Zijie Wang, Guanbin Li, Ping Tan, Shenghua Gao, Yizhou YuAbstract
Compositional 3D scene generation aims to recover complete 3D object shapes and their spatial arrangement from visual observations. Recent image-conditioned 3D generators provide strong priors for producing high-quality object geometry, making the generation of complex scenes increasingly practical. A central challenge is therefore to spatially organize these generated assets into a globally coherent scene while remaining consistent with multi-view observations. Existing approaches either entangle scene layout with object generation or separately estimate spatial placement from view-specific observations, where pose hypotheses may remain ambiguous and inconsistent across views, often resulting in an incoherent object-camera soup. We introduce SPOON, a framework that reformulates multi-view compositional 3D generation as scene-level, geometry-grounded pose reasoning. Rather than treating view-specific object pose hypotheses independently, SPOON coordinates them using reconstruction-derived multi-view geometry through a Guide-Route-Reconcile paradigm. This progressively organizes object poses and camera configurations into a coherent scene-level spatial arrangement. Extensive experiments on ARSG-110K and MIDI-3D-Front demonstrate consistent improvements in object placement and scene composition across varying numbers of input views. On ARSG-110K, SPOON reduces scene-level and object-level Chamfer distances by 12.7% and 17.7%, respectively, compared with a strong baseline.
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https://arxiv.org/abs/2609.39590
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Multi-Agent Flow Matching with Decoupled Generative Guidance
2026-09-29 17:54:07Ruoyu Lin, Magnus Egerstedt, Fabio PasqualettiAbstract
Generative modeling is widely used for producing diverse objects from complex, multimodal distributions. However, its expressivity does not, in general, come with formal guarantees that the generated objects satisfy hard constraints or requirements. In multi-agent generation, this problem becomes more challenging because a hard requirement can depend on multiple agents, while each agent may need to determine its own guidance input without relying on the simultaneously computed guidance inputs of other agents. To this end, we introduce DeGG-Flow, a general framework for multi-agent flow matching with decoupled generative guidance. By representing the generative process as a control-affine dynamical system, we develop guidance conditions for two classes of coupled requirements: shared requirements whose satisfaction depends on multiple agents together, and private requirements associated with each individual agent dependent on its neighbors. For both classes, we establish feasibility conditions and finite-horizon convergence guarantees. We further derive a Wasserstein bound that characterizes the distributional deviation induced by the guidance. We demonstrate DeGG-Flow on multi-robot collaboration for crossing a spatial gap by reconfiguring the environment, and on multi-object scene generation with affordance requirements. Across both applications, DeGG-Flow directly generates objects that satisfy all corresponding hard requirements, including at team sizes unseen during training.
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https://arxiv.org/abs/2609.38133
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RoXDrive: Closed-Loop Reinforcement Learning for End-to-End Autonomous Driving via Action-Faithful Rollouts
2026-09-29 06:59:50Hongbin Lin, Chaoda Zheng, Yiming Yang, Xiangyu Li, Shijia Chen, Jinhao Deng, Kangjie Chen, Dongbin Zhang, Jie Feng, Yu Zhang, Xianming Liu, Shuguang Cui, Boyang Wang, Zhen LiAbstract
End-to-end autonomous driving policies are commonly trained via imitation learning on logged demonstrations without observing the consequences of their own actions, leading to causal confusion in closed-loop real-world deployment. To address this issue, reinforcement learning (RL) post-training offers a promising alternative by leveraging world models as interactive training environments to enable future scene generation for policy improvement. Nevertheless, existing approaches either rely on reconstruction-based simulators, offering limited counterfactual interaction, or adopt synthetic simulators to enable long-horizon closed-loop interaction at the cost of a substantial sim-to-real gap. Recently, video world models have exhibited the ability to generate realistic multi-step future rollouts but may not faithfully reflect action conditions, resulting in action-vision mismatch. In this paper, we introduce RoXDrive, a plug-and-play closed-loop RL framework that enables reliable policy optimization by identifying action-faithful world-model rollouts, consisting of two stages: 1) Model pre-training: In addition to imitation-based policy pre-training, we devise an Action-Vision Faithfulness Evaluator for inverse dynamics estimation with our geometry-aware auxiliary trajectory supervision, enabling long-horizon assessment of whether visual dynamics faithfully reflect the conditioning ego actions. 2) Action-faithful RL post-training: Agents iteratively interact with world models to form long-horizon scene rollouts, retaining only action-faithful ones for dense safety-aware scoring and scene-level closed-loop RL post-training. Extensive experiments on nuScenes and an in-house dataset with over 130K training scenarios demonstrate consistent gains across planners, reducing safety violations by 27.6% with DiffusionDrive on nuScenes and 33.7% with Qwen3-VL on the internal data.
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https://arxiv.org/abs/2609.36851
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SsgCaps: A controlled dataset for the evaluation of sound scene generation algorithms
2026-09-22 14:26:14Modan Tailleur (LS2N), Junwon Lee (LS2N), Laurie M Heller (LS2N), Mathieu Lagrange (LS2N), Keunwoo Choi, Brian McFee, Keisuke Imoto, Yuki OkamotoAbstract
Sound Scene Generation is about the automatic synthesis of artificial sound scenes. We introduce SsgCaps, a publicly available dataset of human-engineered sound scenes wherein each scene matches a precisely structured prompt that guides the sampling process. The corresponding prompts are sampled from a predefined action-based typology that allows extensive sampling while retaining plausibility. SsgCaps is a sound scene dataset derived from the unpublished reference dataset for Task 7 of the 2024 DCASE Challenge edition, which contained private-and public-domain audio samples. In contrast, SsgCaps contains only public-domain audio samples, allowing us to open this dataset to the community. To make this dataset useful to the community, we first elaborate on the rationale for the prompt and dataset structure. We then perform a comparative quantitative analysis of the 2 versions of the dataset. To do so, we compare both versions to the audio synthesized by the SSG algorithms submitted to the challenge using Fr{é}chet Audio Distance (FAD) and Kernel Audio Distance (KAD) as well as perceptual ratings. This analysis shows only small differences, which enables us to recommend the open version for further benchmarking of SSG algorithms.
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https://arxiv.org/abs/2609.26854
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AgriGen: Large-Scale Scene Generation Framework for Photorealistic Agricultural Robotics Simulation
2026-09-22 05:54:37Utkarsh Bajpai, Serge Tleiji, C\'{e}dric Pradalier, St\'{e}phanie AravecchiaAbstract
Agricultural robotics is advancing rapidly, yet progress remains constrained by limited field access, lack of control over field conditions, geographic variability, and seasonal crop cycles. These factors make it difficult and costly to acquire diverse agricultural datasets, resulting in limited evaluation and reduced system robustness. While other robotics domains have scaled learning and evaluation through high-fidelity simulation, agricultural robotics still lacks comparably capable tools. In this paper, we present a ROS-integrated framework, built on Isaac Sim, for large-scale procedural generation of agricultural environments. The framework supports photorealistic rendering, physics simulation, and domain randomization at scales relevant to robotics research, with built-in support for row crops, orchards, and vineyards and straightforward extensibility to additional crop categories. Project Page: this https URL
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https://arxiv.org/abs/2609.25725
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