Daily Papers

Transparent objects remain notoriously hard for perception systems: refraction, reflection and transmission break the assumptions behind stereo, ToF and purely discriminative monocular depth, causing holes and temporally unstable estimates. Our key observation is that modern video diffusion models already synthesize convincing transparent phenomena, suggesting they have internalized the optical rules. We build TransPhy3D, a synthetic video corpus of transparent/reflective scenes: 11k sequences rendered with Blender/Cycles. Scenes are assembled from a curated bank of category-rich static assets and shape-rich procedural assets paired with glass/plastic/metal materials. We render RGB + depth + normals with physically based ray tracing and OptiX denoising. Starting from a large video diffusion model, we learn a video-to-video translator for depth (and normals) via lightweight LoRA adapters. During training we concatenate RGB and (noisy) depth latents in the DiT backbone and co-train on TransPhy3D and existing frame-wise synthetic datasets, yielding temporally consistent predictions for arbitrary-length input videos. The resulting model, DKT, achieves zero-shot SOTA on real and synthetic video benchmarks involving transparency: ClearPose, DREDS (CatKnown/CatNovel), and TransPhy3D-Test. It improves accuracy and temporal consistency over strong image/video baselines, and a normal variant sets the best video normal estimation results on ClearPose. A compact 1.3B version runs at ~0.17 s/frame. Integrated into a grasping stack, DKT's depth boosts success rates across translucent, reflective and diffuse surfaces, outperforming prior estimators. Together, these results support a broader claim: "Diffusion knows transparency." Generative video priors can be repurposed, efficiently and label-free, into robust, temporally coherent perception for challenging real-world manipulation.

Methods that use Large Language Models (LLM) as planners for embodied instruction following tasks have become widespread. To successfully complete tasks, the LLM must be grounded in the environment in which the robot operates. One solution is to use a scene graph that contains all the necessary information. Modern methods rely on prebuilt scene graphs and assume that all task-relevant information is available at the start of planning. However, these approaches do not account for changes in the environment that may occur between the graph construction and the task execution. We propose LookPlanGraph - a method that leverages a scene graph composed of static assets and object priors. During plan execution, LookPlanGraph continuously updates the graph with relevant objects, either by verifying existing priors or discovering new entities. This is achieved by processing the agents egocentric camera view using a Vision Language Model. We conducted experiments with changed object positions VirtualHome and OmniGibson simulated environments, demonstrating that LookPlanGraph outperforms methods based on predefined static scene graphs. To demonstrate the practical applicability of our approach, we also conducted experiments in a real-world setting. Additionally, we introduce the GraSIF (Graph Scenes for Instruction Following) dataset with automated validation framework, comprising 514 tasks drawn from SayPlan Office, BEHAVIOR-1K, and VirtualHome RobotHow. Project page available at https://lookplangraph.github.io .

The webpage-to-code task requires models to understand visual representations of webpages and generate corresponding code. However, existing benchmarks primarily focus on static screenshot-to-code tasks, thereby overlooking the dynamic interactions fundamental to real-world web applications. To address this limitation, this paper introduces IWR-Bench, a novel benchmark for evaluating the capabilities of Large Vision-Language Models (LVLMs) in interactive webpage reconstruction from video. IWR-Bench comprises 113 meticulously curated tasks from 100 real-world websites, with 1,001 actions and featuring diverse interaction complexities (e.g., web games), visual styles, and domains. Aligning with standard web development practices, each task includes not only user interaction videos but also all crawled static assets (e.g., images, videos). This benchmark evaluates models on two fundamental challenges: comprehensive multi-modal reasoning to infer interaction logic from video and assets, and advanced code generation to translate this logic into functional code. An agent-as-a-judge framework with a comprehensive metric system automatically assesses the functional correctness and visual fidelity of generated webpages. Extensive experiments on 28 LVLMs reveal a significant challenge: the best model achieves an overall score of only 36.35%, as functional correctness (24.39% IFS) lags significantly behind visual fidelity (64.25% VFS). These results highlight critical limitations in current models' ability to reason about temporal dynamics and synthesize event-driven logic, establishing IWR-Bench as a challenging frontier for vision-language research. The benchmark and evaluation code will be made publicly available. Code is available at https://github.com/L-O-I/IWR-Bench.

Aided by text-to-image and text-to-video diffusion models, existing 4D content creation pipelines utilize score distillation sampling to optimize the entire dynamic 3D scene. However, as these pipelines generate 4D content from text or image inputs, they incur significant time and effort in prompt engineering through trial and error. This work introduces 4DGen, a novel, holistic framework for grounded 4D content creation that decomposes the 4D generation task into multiple stages. We identify static 3D assets and monocular video sequences as key components in constructing the 4D content. Our pipeline facilitates conditional 4D generation, enabling users to specify geometry (3D assets) and motion (monocular videos), thus offering superior control over content creation. Furthermore, we construct our 4D representation using dynamic 3D Gaussians, which permits efficient, high-resolution supervision through rendering during training, thereby facilitating high-quality 4D generation. Additionally, we employ spatial-temporal pseudo labels on anchor frames, along with seamless consistency priors implemented through 3D-aware score distillation sampling and smoothness regularizations. Compared to existing baselines, our approach yields competitive results in faithfully reconstructing input signals and realistically inferring renderings from novel viewpoints and timesteps. Most importantly, our method supports grounded generation, offering users enhanced control, a feature difficult to achieve with previous methods. Project page: https://vita-group.github.io/4DGen/

We present Animus3D, a text-driven 3D animation framework that generates motion field given a static 3D asset and text prompt. Previous methods mostly leverage the vanilla Score Distillation Sampling (SDS) objective to distill motion from pretrained text-to-video diffusion, leading to animations with minimal movement or noticeable jitter. To address this, our approach introduces a novel SDS alternative, Motion Score Distillation (MSD). Specifically, we introduce a LoRA-enhanced video diffusion model that defines a static source distribution rather than pure noise as in SDS, while another inversion-based noise estimation technique ensures appearance preservation when guiding motion. To further improve motion fidelity, we incorporate explicit temporal and spatial regularization terms that mitigate geometric distortions across time and space. Additionally, we propose a motion refinement module to upscale the temporal resolution and enhance fine-grained details, overcoming the fixed-resolution constraints of the underlying video model. Extensive experiments demonstrate that Animus3D successfully animates static 3D assets from diverse text prompts, generating significantly more substantial and detailed motion than state-of-the-art baselines while maintaining high visual integrity. Code will be released at https://qiisun.github.io/animus3d_page.

Simulation forms the backbone of modern self-driving development. Simulators help develop, test, and improve driving systems without putting humans, vehicles, or their environment at risk. However, simulators face a major challenge: They rely on realistic, scalable, yet interesting content. While recent advances in rendering and scene reconstruction make great strides in creating static scene assets, modeling their layout, dynamics, and behaviors remains challenging. In this work, we turn to language as a source of supervision for dynamic traffic scene generation. Our model, LCTGen, combines a large language model with a transformer-based decoder architecture that selects likely map locations from a dataset of maps, and produces an initial traffic distribution, as well as the dynamics of each vehicle. LCTGen outperforms prior work in both unconditional and conditional traffic scene generation in terms of realism and fidelity. Code and video will be available at https://ariostgx.github.io/lctgen.

3D modeling is shifting from static visual representations toward physical, articulated assets that can be directly used in simulation and interaction. However, most existing 3D generation methods overlook key physical and articulation properties, thereby limiting their utility in embodied AI. To bridge this gap, we introduce PhysX-Anything, the first simulation-ready physical 3D generative framework that, given a single in-the-wild image, produces high-quality sim-ready 3D assets with explicit geometry, articulation, and physical attributes. Specifically, we propose the first VLM-based physical 3D generative model, along with a new 3D representation that efficiently tokenizes geometry. It reduces the number of tokens by 193x, enabling explicit geometry learning within standard VLM token budgets without introducing any special tokens during fine-tuning and significantly improving generative quality. In addition, to overcome the limited diversity of existing physical 3D datasets, we construct a new dataset, PhysX-Mobility, which expands the object categories in prior physical 3D datasets by over 2x and includes more than 2K common real-world objects with rich physical annotations. Extensive experiments on PhysX-Mobility and in-the-wild images demonstrate that PhysX-Anything delivers strong generative performance and robust generalization. Furthermore, simulation-based experiments in a MuJoCo-style environment validate that our sim-ready assets can be directly used for contact-rich robotic policy learning. We believe PhysX-Anything can substantially empower a broad range of downstream applications, especially in embodied AI and physics-based simulation.

High-quality articulated 3D assets are indispensable for embodied AI and physical simulation, yet 3D generation still focuses on static meshes, leaving a gap in "sim-ready" interactive objects. Most recent articulated object creation methods rely on multi-stage pipelines that accumulate errors across decoupled modules. Alternatively, unified MLLMs offer a single-stage path to joint static asset understanding and sim-ready asset generation. However dense voxel-based 3D tokenization yields long 3D token sequences and high memory overhead, limiting scalability to complex articulated objects. To address this, we propose SIMART, a unified MLLM framework that jointly performs part-level decomposition and kinematic prediction. By introducing a Sparse 3D VQ-VAE, SIMART reduces token counts by 70% vs. dense voxel tokens, enabling high-fidelity multi-part assemblies. SIMART achieves state-of-the-art performance on PartNet-Mobility and in-the-wild AIGC datasets, and enables physics-based robotic simulation.

With the explosive growth of 3D content creation, there is an increasing demand for automatically converting static 3D models into articulation-ready versions that support realistic animation. Traditional approaches rely heavily on manual annotation, which is both time-consuming and labor-intensive. Moreover, the lack of large-scale benchmarks has hindered the development of learning-based solutions. In this work, we present MagicArticulate, an effective framework that automatically transforms static 3D models into articulation-ready assets. Our key contributions are threefold. First, we introduce Articulation-XL, a large-scale benchmark containing over 33k 3D models with high-quality articulation annotations, carefully curated from Objaverse-XL. Second, we propose a novel skeleton generation method that formulates the task as a sequence modeling problem, leveraging an auto-regressive transformer to naturally handle varying numbers of bones or joints within skeletons and their inherent dependencies across different 3D models. Third, we predict skinning weights using a functional diffusion process that incorporates volumetric geodesic distance priors between vertices and joints. Extensive experiments demonstrate that MagicArticulate significantly outperforms existing methods across diverse object categories, achieving high-quality articulation that enables realistic animation. Project page: https://chaoyuesong.github.io/MagicArticulate.

We present a novel approach to the generation of static and articulated 3D assets that has a 3D autodecoder at its core. The 3D autodecoder framework embeds properties learned from the target dataset in the latent space, which can then be decoded into a volumetric representation for rendering view-consistent appearance and geometry. We then identify the appropriate intermediate volumetric latent space, and introduce robust normalization and de-normalization operations to learn a 3D diffusion from 2D images or monocular videos of rigid or articulated objects. Our approach is flexible enough to use either existing camera supervision or no camera information at all -- instead efficiently learning it during training. Our evaluations demonstrate that our generation results outperform state-of-the-art alternatives on various benchmark datasets and metrics, including multi-view image datasets of synthetic objects, real in-the-wild videos of moving people, and a large-scale, real video dataset of static objects.

Modern interactive applications increasingly demand dynamic 3D content, yet the transformation of static 3D models into animated assets constitutes a significant bottleneck in content creation pipelines. While recent advances in generative AI have revolutionized static 3D model creation, rigging and animation continue to depend heavily on expert intervention. We present Puppeteer, a comprehensive framework that addresses both automatic rigging and animation for diverse 3D objects. Our system first predicts plausible skeletal structures via an auto-regressive transformer that introduces a joint-based tokenization strategy for compact representation and a hierarchical ordering methodology with stochastic perturbation that enhances bidirectional learning capabilities. It then infers skinning weights via an attention-based architecture incorporating topology-aware joint attention that explicitly encodes inter-joint relationships based on skeletal graph distances. Finally, we complement these rigging advances with a differentiable optimization-based animation pipeline that generates stable, high-fidelity animations while being computationally more efficient than existing approaches. Extensive evaluations across multiple benchmarks demonstrate that our method significantly outperforms state-of-the-art techniques in both skeletal prediction accuracy and skinning quality. The system robustly processes diverse 3D content, ranging from professionally designed game assets to AI-generated shapes, producing temporally coherent animations that eliminate the jittering issues common in existing methods.

Recently, significant advancements have been made in the reconstruction and generation of 3D assets, including static cases and those with physical interactions. To recover the physical properties of 3D assets, existing methods typically assume that all materials belong to a specific predefined category (e.g., elasticity). However, such assumptions ignore the complex composition of multiple heterogeneous objects in real scenarios and tend to render less physically plausible animation given a wider range of objects. We propose OmniPhysGS for synthesizing a physics-based 3D dynamic scene composed of more general objects. A key design of OmniPhysGS is treating each 3D asset as a collection of constitutive 3D Gaussians. For each Gaussian, its physical material is represented by an ensemble of 12 physical domain-expert sub-models (rubber, metal, honey, water, etc.), which greatly enhances the flexibility of the proposed model. In the implementation, we define a scene by user-specified prompts and supervise the estimation of material weighting factors via a pretrained video diffusion model. Comprehensive experiments demonstrate that OmniPhysGS achieves more general and realistic physical dynamics across a broader spectrum of materials, including elastic, viscoelastic, plastic, and fluid substances, as well as interactions between different materials. Our method surpasses existing methods by approximately 3% to 16% in metrics of visual quality and text alignment.

Generative retrieval has emerged as a powerful paradigm for LLM-based recommendation. However, industrial recommender systems often benefit from restricting the output space to a constrained subset of items based on business logic (e.g. enforcing content freshness or product category), which standard autoregressive decoding cannot natively support. Moreover, existing constrained decoding methods that make use of prefix trees (Tries) incur severe latency penalties on hardware accelerators (TPUs/GPUs). In this work, we introduce STATIC (Sparse Transition Matrix-Accelerated Trie Index for Constrained Decoding), an efficient and scalable constrained decoding technique designed specifically for high-throughput LLM-based generative retrieval on TPUs/GPUs. By flattening the prefix tree into a static Compressed Sparse Row (CSR) matrix, we transform irregular tree traversals into fully vectorized sparse matrix operations, unlocking massive efficiency gains on hardware accelerators. We deploy STATIC on a large-scale industrial video recommendation platform serving billions of users. STATIC produces significant product metric impact with minimal latency overhead (0.033 ms per step and 0.25% of inference time), achieving a 948x speedup over a CPU trie implementation and a 47-1033x speedup over a hardware-accelerated binary-search baseline. Furthermore, the runtime overhead of STATIC remains extremely low across a wide range of practical configurations. To the best of our knowledge, STATIC enables the first production-scale deployment of strictly constrained generative retrieval. In addition, evaluation on academic benchmarks demonstrates that STATIC can considerably improve cold-start performance for generative retrieval. Our code is available at https://github.com/youtube/static-constraint-decoding.

Neural asset authoring and neural rendering have traditionally evolved as disjoint paradigms: one generates digital assets for fixed graphics pipelines, while the other maps conventional assets to images. However, treating them as independent entities limits the potential for end-to-end optimization in fidelity and consistency. In this paper, we bridge this gap with NeAR, a Coupled Neural Asset--Renderer Stack. We argue that co-designing the asset representation and the renderer creates a robust "contract" for superior generation. On the asset side, we introduce the Lighting-Homogenized SLAT (LH-SLAT). Leveraging a rectified-flow model, NeAR lifts casually lit single images into a canonical, illumination-invariant latent space, effectively suppressing baked-in shadows and highlights. On the renderer side, we design a lighting-aware neural decoder tailored to interpret these homogenized latents. Conditioned on HDR environment maps and camera views, it synthesizes relightable 3D Gaussian splats in real-time without per-object optimization. We validate NeAR on four tasks: (1) G-buffer-based forward rendering, (2) random-lit reconstruction, (3) unknown-lit relighting, and (4) novel-view relighting. Extensive experiments demonstrate that our coupled stack outperforms state-of-the-art baselines in both quantitative metrics and perceptual quality. We hope this coupled asset-renderer perspective inspires future graphics stacks that view neural assets and renderers as co-designed components instead of independent entities.

The digital industry demands high-quality, diverse modular 3D assets, especially for user-generated content~(UGC). In this work, we introduce AssetFormer, an autoregressive Transformer-based model designed to generate modular 3D assets from textual descriptions. Our pilot study leverages real-world modular assets collected from online platforms. AssetFormer tackles the challenge of creating assets composed of primitives that adhere to constrained design parameters for various applications. By innovatively adapting module sequencing and decoding techniques inspired by language models, our approach enhances asset generation quality through autoregressive modeling. Initial results indicate the effectiveness of AssetFormer in streamlining asset creation for professional development and UGC scenarios. This work presents a flexible framework extendable to various types of modular 3D assets, contributing to the broader field of 3D content generation. The code is available at https://github.com/Advocate99/AssetFormer.

Animatable 3D assets, defined as geometry equipped with an articulated skeleton and skinning weights, are fundamental to interactive graphics, embodied agents, and animation production. While recent 3D generative models can synthesize visually plausible shapes from images, the results are typically static. Obtaining usable rigs via post-hoc auto-rigging is brittle and often produces skeletons that are topologically inconsistent with the generated geometry. We present AniGen, a unified framework that directly generates animate-ready 3D assets conditioned on a single image. Our key insight is to represent shape, skeleton, and skinning as mutually consistent S^3 Fields (Shape, Skeleton, Skin) defined over a shared spatial domain. To enable the robust learning of these fields, we introduce two technical innovations: (i) a confidence-decaying skeleton field that explicitly handles the geometric ambiguity of bone prediction at Voronoi boundaries, and (ii) a dual skin feature field that decouples skinning weights from specific joint counts, allowing a fixed-architecture network to predict rigs of arbitrary complexity. Built upon a two-stage flow-matching pipeline, AniGen first synthesizes a sparse structural scaffold and then generates dense geometry and articulation in a structured latent space. Extensive experiments demonstrate that AniGen substantially outperforms state-of-the-art sequential baselines in rig validity and animation quality, generalizing effectively to in-the-wild images across diverse categories including animals, humanoids, and machinery. Homepage: https://yihua7.github.io/AniGen-web/

3D modeling is moving from virtual to physical. Existing 3D generation primarily emphasizes geometries and textures while neglecting physical-grounded modeling. Consequently, despite the rapid development of 3D generative models, the synthesized 3D assets often overlook rich and important physical properties, hampering their real-world application in physical domains like simulation and embodied AI. As an initial attempt to address this challenge, we propose PhysX, an end-to-end paradigm for physical-grounded 3D asset generation. 1) To bridge the critical gap in physics-annotated 3D datasets, we present PhysXNet - the first physics-grounded 3D dataset systematically annotated across five foundational dimensions: absolute scale, material, affordance, kinematics, and function description. In particular, we devise a scalable human-in-the-loop annotation pipeline based on vision-language models, which enables efficient creation of physics-first assets from raw 3D assets.2) Furthermore, we propose PhysXGen, a feed-forward framework for physics-grounded image-to-3D asset generation, injecting physical knowledge into the pre-trained 3D structural space. Specifically, PhysXGen employs a dual-branch architecture to explicitly model the latent correlations between 3D structures and physical properties, thereby producing 3D assets with plausible physical predictions while preserving the native geometry quality. Extensive experiments validate the superior performance and promising generalization capability of our framework. All the code, data, and models will be released to facilitate future research in generative physical AI.

Static analysis is a cornerstone for software vulnerability detection, yet it often struggles with the classic precision-scalability trade-off. In practice, such tools often produce high false positive rates, particularly in large codebases like the Linux kernel. This imprecision can arise from simplified vulnerability modeling and over-approximation of path and data constraints. While large language models (LLMs) show promise in code understanding, their naive application to program analysis yields unreliable results due to inherent reasoning limitations. We introduce BugLens, a post-refinement framework that significantly improves static analysis precision. BugLens guides an LLM to follow traditional analysis steps by assessing buggy code patterns for security impact and validating the constraints associated with static warnings. Evaluated on real-world Linux kernel bugs, BugLens raises precision from 0.10 (raw) and 0.50 (semi-automated refinement) to 0.72, substantially reducing false positives and revealing four previously unreported vulnerabilities. Our results suggest that a structured LLM-based workflow can meaningfully enhance the effectiveness of static analysis tools.

We present Meta 3D AssetGen (AssetGen), a significant advancement in text-to-3D generation which produces faithful, high-quality meshes with texture and material control. Compared to works that bake shading in the 3D object's appearance, AssetGen outputs physically-based rendering (PBR) materials, supporting realistic relighting. AssetGen generates first several views of the object with factored shaded and albedo appearance channels, and then reconstructs colours, metalness and roughness in 3D, using a deferred shading loss for efficient supervision. It also uses a sign-distance function to represent 3D shape more reliably and introduces a corresponding loss for direct shape supervision. This is implemented using fused kernels for high memory efficiency. After mesh extraction, a texture refinement transformer operating in UV space significantly improves sharpness and details. AssetGen achieves 17% improvement in Chamfer Distance and 40% in LPIPS over the best concurrent work for few-view reconstruction, and a human preference of 72% over the best industry competitors of comparable speed, including those that support PBR. Project page with generated assets: https://assetgen.github.io

The rapid integration of Large Language Models (LLMs) into high-stakes domains necessitates reliable safety and compliance evaluation. However, existing static benchmarks are ill-equipped to address the dynamic nature of AI risks and evolving regulations, creating a critical safety gap. This paper introduces a new paradigm of agentic safety evaluation, reframing evaluation as a continuous and self-evolving process rather than a one-time audit. We then propose a novel multi-agent framework SafeEvalAgent, which autonomously ingests unstructured policy documents to generate and perpetually evolve a comprehensive safety benchmark. SafeEvalAgent leverages a synergistic pipeline of specialized agents and incorporates a Self-evolving Evaluation loop, where the system learns from evaluation results to craft progressively more sophisticated and targeted test cases. Our experiments demonstrate the effectiveness of SafeEvalAgent, showing a consistent decline in model safety as the evaluation hardens. For instance, GPT-5's safety rate on the EU AI Act drops from 72.50% to 36.36% over successive iterations. These findings reveal the limitations of static assessments and highlight our framework's ability to uncover deep vulnerabilities missed by traditional methods, underscoring the urgent need for dynamic evaluation ecosystems to ensure the safe and responsible deployment of advanced AI.

General-purpose technologies reshape economies less by improving individual tools than by enabling new ways to organize production and coordination. We believe AI agents are approaching a similar inflection point: as foundation models make broad task execution and tool use increasingly accessible, the binding constraint shifts from raw capability to how work is delegated, verified, and rewarded at scale. We introduce EpochX, a credits-native marketplace infrastructure for human-agent production networks. EpochX treats humans and agents as peer participants who can post tasks or claim them. Claimed tasks can be decomposed into subtasks and executed through an explicit delivery workflow with verification and acceptance. Crucially, EpochX is designed so that each completed transaction can produce reusable ecosystem assets, including skills, workflows, execution traces, and distilled experience. These assets are stored with explicit dependency structure, enabling retrieval, composition, and cumulative improvement over time. EpochX also introduces a native credit mechanism to make participation economically viable under real compute costs. Credits lock task bounties, budget delegation, settle rewards upon acceptance, and compensate creators when verified assets are reused. By formalizing the end-to-end transaction model together with its asset and incentive layers, EpochX reframes agentic AI as an organizational design problem: building infrastructures where verifiable work leaves persistent, reusable artifacts, and where value flows support durable human-agent collaboration.

Developing embodied AI agents requires scalable training environments that balance content diversity with physics accuracy. World simulators provide such environments but face distinct limitations: video-based methods generate diverse content but lack real-time physics feedback for interactive learning, while physics-based engines provide accurate dynamics but face scalability limitations from costly manual asset creation. We present Seed3D 1.0, a foundation model that generates simulation-ready 3D assets from single images, addressing the scalability challenge while maintaining physics rigor. Unlike existing 3D generation models, our system produces assets with accurate geometry, well-aligned textures, and realistic physically-based materials. These assets can be directly integrated into physics engines with minimal configuration, enabling deployment in robotic manipulation and simulation training. Beyond individual objects, the system scales to complete scene generation through assembling objects into coherent environments. By enabling scalable simulation-ready content creation, Seed3D 1.0 provides a foundation for advancing physics-based world simulators. Seed3D 1.0 is now available on https://console.volcengine.com/ark/region:ark+cn-beijing/experience/vision?modelId=doubao-seed3d-1-0-250928&tab=Gen3D

In this paper, we propose a 3D asset-referenced diffusion model for image generation, exploring how to integrate 3D assets into image diffusion models. Existing reference-based image generation methods leverage large-scale pretrained diffusion models and demonstrate strong capability in generating diverse images conditioned on a single reference image. However, these methods are limited to single-image references and cannot leverage 3D assets, constraining their practical versatility. To address this gap, we present a cross-domain diffusion model with dual-branch perception that leverages multi-view RGB images and point maps of 3D assets to jointly model their colors and canonical-space coordinates, achieving precise consistency between generated images and the 3D references. Our spatially aligned dual-branch generation architecture and domain-decoupled generation mechanism ensure the simultaneous generation of two spatially aligned but content-disentangled outputs, RGB images and point maps, linking 2D image attributes with 3D asset attributes. Experiments show that our approach effectively uses 3D assets as references to produce images consistent with the given assets, opening new possibilities for combining diffusion models with 3D content creation.

Large-scale diffusion generative models are greatly simplifying image, video and 3D asset creation from user-provided text prompts and images. However, the challenging problem of text-to-4D dynamic 3D scene generation with diffusion guidance remains largely unexplored. We propose Dream-in-4D, which features a novel two-stage approach for text-to-4D synthesis, leveraging (1) 3D and 2D diffusion guidance to effectively learn a high-quality static 3D asset in the first stage; (2) a deformable neural radiance field that explicitly disentangles the learned static asset from its deformation, preserving quality during motion learning; and (3) a multi-resolution feature grid for the deformation field with a displacement total variation loss to effectively learn motion with video diffusion guidance in the second stage. Through a user preference study, we demonstrate that our approach significantly advances image and motion quality, 3D consistency and text fidelity for text-to-4D generation compared to baseline approaches. Thanks to its motion-disentangled representation, Dream-in-4D can also be easily adapted for controllable generation where appearance is defined by one or multiple images, without the need to modify the motion learning stage. Thus, our method offers, for the first time, a unified approach for text-to-4D, image-to-4D and personalized 4D generation tasks.

Static analysis tools are widely used for vulnerability detection as they understand programs with complex behavior and millions of lines of code. Despite their popularity, static analysis tools are known to generate an excess of false positives. The recent ability of Machine Learning models to understand programming languages opens new possibilities when applied to static analysis. However, existing datasets to train models for vulnerability identification suffer from multiple limitations such as limited bug context, limited size, and synthetic and unrealistic source code. We propose D2A, a differential analysis based approach to label issues reported by static analysis tools. The D2A dataset is built by analyzing version pairs from multiple open source projects. From each project, we select bug fixing commits and we run static analysis on the versions before and after such commits. If some issues detected in a before-commit version disappear in the corresponding after-commit version, they are very likely to be real bugs that got fixed by the commit. We use D2A to generate a large labeled dataset to train models for vulnerability identification. We show that the dataset can be used to build a classifier to identify possible false alarms among the issues reported by static analysis, hence helping developers prioritize and investigate potential true positives first.

Text- or image-to-3D generators and 3D scanners can now produce 3D assets with high-quality shapes and textures. These assets typically consist of a single, fused representation, like an implicit neural field, a Gaussian mixture, or a mesh, without any useful structure. However, most applications and creative workflows require assets to be made of several meaningful parts that can be manipulated independently. To address this gap, we introduce PartGen, a novel approach that generates 3D objects composed of meaningful parts starting from text, an image, or an unstructured 3D object. First, given multiple views of a 3D object, generated or rendered, a multi-view diffusion model extracts a set of plausible and view-consistent part segmentations, dividing the object into parts. Then, a second multi-view diffusion model takes each part separately, fills in the occlusions, and uses those completed views for 3D reconstruction by feeding them to a 3D reconstruction network. This completion process considers the context of the entire object to ensure that the parts integrate cohesively. The generative completion model can make up for the information missing due to occlusions; in extreme cases, it can hallucinate entirely invisible parts based on the input 3D asset. We evaluate our method on generated and real 3D assets and show that it outperforms segmentation and part-extraction baselines by a large margin. We also showcase downstream applications such as 3D part editing.

Significant progress has been made in open-vocabulary mobile manipulation, where the goal is for a robot to perform tasks in any environment given a natural language description. However, most current systems assume a static environment, which limits the system's applicability in real-world scenarios where environments frequently change due to human intervention or the robot's own actions. In this work, we present DynaMem, a new approach to open-world mobile manipulation that uses a dynamic spatio-semantic memory to represent a robot's environment. DynaMem constructs a 3D data structure to maintain a dynamic memory of point clouds, and answers open-vocabulary object localization queries using multimodal LLMs or open-vocabulary features generated by state-of-the-art vision-language models. Powered by DynaMem, our robots can explore novel environments, search for objects not found in memory, and continuously update the memory as objects move, appear, or disappear in the scene. We run extensive experiments on the Stretch SE3 robots in three real and nine offline scenes, and achieve an average pick-and-drop success rate of 70% on non-stationary objects, which is more than a 2x improvement over state-of-the-art static systems. Our code as well as our experiment and deployment videos are open sourced and can be found on our project website: https://dynamem.github.io/

What constitutes the "vibe" of a particular scene? What should one find in "a busy, dirty city street", "an idyllic countryside", or "a crime scene in an abandoned living room"? The translation from abstract scene descriptions to stylized scene elements cannot be done with any generality by extant systems trained on rigid and limited indoor datasets. In this paper, we propose to leverage the knowledge captured by foundation models to accomplish this translation. We present a system that can serve as a tool to generate stylized assets for 3D scenes described by a short phrase, without the need to enumerate the objects to be found within the scene or give instructions on their appearance. Additionally, it is robust to open-world concepts in a way that traditional methods trained on limited data are not, affording more creative freedom to the 3D artist. Our system demonstrates this using a foundation model "team" composed of a large language model, a vision-language model and several image diffusion models, which communicate using an interpretable and user-editable intermediate representation, thus allowing for more versatile and controllable stylized asset generation for 3D artists. We introduce novel metrics for this task, and show through human evaluations that in 91% of the cases, our system outputs are judged more faithful to the semantics of the input scene description than the baseline, thus highlighting the potential of this approach to radically accelerate the 3D content creation process for 3D artists.

Text-to-3D asset generation has achieved significant optimization under the supervision of 2D diffusion priors. However, when dealing with compositional scenes, existing methods encounter several challenges: 1). failure to ensure that composite scene layouts comply with physical laws; 2). difficulty in accurately capturing the assets and relationships described in complex scene descriptions; 3). limited autonomous asset generation capabilities among layout approaches leveraging large language models (LLMs). To avoid these compromises, we propose a novel framework for compositional scene generation, PhiP-G, which seamlessly integrates generation techniques with layout guidance based on a world model. Leveraging LLM-based agents, PhiP-G analyzes the complex scene description to generate a scene graph, and integrating a multimodal 2D generation agent and a 3D Gaussian generation method for targeted assets creation. For the stage of layout, PhiP-G employs a physical pool with adhesion capabilities and a visual supervision agent, forming a world model for layout prediction and planning. Extensive experiments demonstrate that PhiP-G significantly enhances the generation quality and physical rationality of the compositional scenes. Notably, PhiP-G attains state-of-the-art (SOTA) performance in CLIP scores, achieves parity with the leading methods in generation quality as measured by the T^3Bench, and improves efficiency by 24x.