Daily Papers

Materials synthesis is vital for innovations such as energy storage, catalysis, electronics, and biomedical devices. Yet, the process relies heavily on empirical, trial-and-error methods guided by expert intuition. Our work aims to support the materials science community by providing a practical, data-driven resource. We have curated a comprehensive dataset of 17K expert-verified synthesis recipes from open-access literature, which forms the basis of our newly developed benchmark, AlchemyBench. AlchemyBench offers an end-to-end framework that supports research in large language models applied to synthesis prediction. It encompasses key tasks, including raw materials and equipment prediction, synthesis procedure generation, and characterization outcome forecasting. We propose an LLM-as-a-Judge framework that leverages large language models for automated evaluation, demonstrating strong statistical agreement with expert assessments. Overall, our contributions offer a supportive foundation for exploring the capabilities of LLMs in predicting and guiding materials synthesis, ultimately paving the way for more efficient experimental design and accelerated innovation in materials science.

We introduce Dynatask: an open source system for setting up custom NLP tasks that aims to greatly lower the technical knowledge and effort required for hosting and evaluating state-of-the-art NLP models, as well as for conducting model in the loop data collection with crowdworkers. Dynatask is integrated with Dynabench, a research platform for rethinking benchmarking in AI that facilitates human and model in the loop data collection and evaluation. To create a task, users only need to write a short task configuration file from which the relevant web interfaces and model hosting infrastructure are automatically generated. The system is available at https://dynabench.org/ and the full library can be found at https://github.com/facebookresearch/dynabench.

Recent advancements in generative models have unlocked the capabilities to render photo-realistic data in a controllable fashion. Trained on the real data, these generative models are capable of producing realistic samples with minimal to no domain gap, as compared to the traditional graphics rendering. However, using the data generated using such models for training downstream tasks remains under-explored, mainly due to the lack of 3D consistent annotations. Moreover, controllable generative models are learned from massive data and their latent space is often too vast to obtain meaningful sample distributions for downstream task with limited generation. To overcome these challenges, we extract 3D consistent annotations from an existing controllable generative model, making the data useful for downstream tasks. Our experiments show competitive performance against state-of-the-art models using only generated synthetic data, demonstrating potential for solving downstream tasks. Project page: https://synth-forge.github.io

A key theme in the past decade has been that when large neural networks and large datasets combine they can produce remarkable results. In deep reinforcement learning (RL), this paradigm is commonly made possible through experience replay, whereby a dataset of past experiences is used to train a policy or value function. However, unlike in supervised or self-supervised learning, an RL agent has to collect its own data, which is often limited. Thus, it is challenging to reap the benefits of deep learning, and even small neural networks can overfit at the start of training. In this work, we leverage the tremendous recent progress in generative modeling and propose Synthetic Experience Replay (SynthER), a diffusion-based approach to flexibly upsample an agent's collected experience. We show that SynthER is an effective method for training RL agents across offline and online settings, in both proprioceptive and pixel-based environments. In offline settings, we observe drastic improvements when upsampling small offline datasets and see that additional synthetic data also allows us to effectively train larger networks. Furthermore, SynthER enables online agents to train with a much higher update-to-data ratio than before, leading to a significant increase in sample efficiency, without any algorithmic changes. We believe that synthetic training data could open the door to realizing the full potential of deep learning for replay-based RL algorithms from limited data. Finally, we open-source our code at https://github.com/conglu1997/SynthER.

Simulation-based data synthesis has emerged as a powerful paradigm for enhancing real-world robotic manipulation. However, existing synthetic datasets remain insufficient for robust bimanual manipulation due to two challenges: (1) the lack of an efficient, scalable data generation method for novel tasks, and (2) oversimplified simulation environments that fail to capture real-world complexity. We present RoboTwin 2.0, a scalable simulation framework that enables automated, large-scale generation of diverse and realistic data, along with unified evaluation protocols for dual-arm manipulation. We first construct RoboTwin-OD, a large-scale object library comprising 731 instances across 147 categories, each annotated with semantic and manipulation-relevant labels. Building on this foundation, we develop an expert data synthesis pipeline that combines multimodal large language models (MLLMs) with simulation-in-the-loop refinement to generate task-level execution code automatically. To improve sim-to-real transfer, RoboTwin 2.0 incorporates structured domain randomization along five axes: clutter, lighting, background, tabletop height and language instructions, thereby enhancing data diversity and policy robustness. We instantiate this framework across 50 dual-arm tasks spanning five robot embodiments, and pre-collect over 100,000 domain-randomized expert trajectories. Empirical results show a 10.9% gain in code generation success and improved generalization to novel real-world scenarios. A VLA model fine-tuned on our dataset achieves a 367% relative improvement (42.0% vs. 9.0%) on unseen scene real-world tasks, while zero-shot models trained solely on our synthetic data achieve a 228% relative gain, highlighting strong generalization without real-world supervision. We release the data generator, benchmark, dataset, and code to support scalable research in robust bimanual manipulation.

Modern front-end (FE) development, especially when leveraging the unique features of frameworks like React and Vue, presents distinctive challenges. These include managing modular architectures, ensuring synchronization between data and visual outputs for declarative rendering, and adapting reusable components to various scenarios. Such complexities make it particularly difficult for state-of-the-art large vision-language models (VLMs) to generate accurate and functional code directly from design images. To address these challenges, we propose a reflective agentic workflow that synthesizes high-quality image-text data to capture the diverse characteristics of FE development. This workflow automates the extraction of self-containedA \textbf{self-contained code snippet is one that encapsulates all necessary logic, styling, and dependencies, ensuring it functions independently without requiring external imports or context.} code snippets from real-world projects, renders the corresponding visual outputs, and generates detailed descriptions that link design elements to functional code. To further expand the scope and utility of the synthesis, we introduce three data synthesis strategies: Evolution-based synthesis, which enables scalable and diverse dataset expansion; Waterfall-Model-based synthesis, which generates logically coherent code derived from system requirements; and Additive Development synthesis, which iteratively increases the complexity of human-authored components. We build a large vision-language model, Flame, trained on the synthesized datasets and demonstrate its effectiveness in generating React code via the pass@k metric. Our results suggest that a code VLM trained to interpret images before code generation may achieve better performance.

We present a novel generative 3D modeling system, coined CraftsMan, which can generate high-fidelity 3D geometries with highly varied shapes, regular mesh topologies, and detailed surfaces, and, notably, allows for refining the geometry in an interactive manner. Despite the significant advancements in 3D generation, existing methods still struggle with lengthy optimization processes, irregular mesh topologies, noisy surfaces, and difficulties in accommodating user edits, consequently impeding their widespread adoption and implementation in 3D modeling software. Our work is inspired by the craftsman, who usually roughs out the holistic figure of the work first and elaborates the surface details subsequently. Specifically, we employ a 3D native diffusion model, which operates on latent space learned from latent set-based 3D representations, to generate coarse geometries with regular mesh topology in seconds. In particular, this process takes as input a text prompt or a reference image and leverages a powerful multi-view (MV) diffusion model to generate multiple views of the coarse geometry, which are fed into our MV-conditioned 3D diffusion model for generating the 3D geometry, significantly improving robustness and generalizability. Following that, a normal-based geometry refiner is used to significantly enhance the surface details. This refinement can be performed automatically, or interactively with user-supplied edits. Extensive experiments demonstrate that our method achieves high efficacy in producing superior-quality 3D assets compared to existing methods. HomePage: https://craftsman3d.github.io/, Code: https://github.com/wyysf-98/CraftsMan

The pursuit of diverse, complex, and large-scale instruction data is crucial for automatically aligning large language models (LLMs). While there are methods capable of generating synthetic instructions at scale, they either suffer from limited grounding sources, leading to a narrow distribution, or rely on trivial extensions that fail to produce meaningful trajectories in terms of complexity. In contrast, instructions that benefit efficient alignment are typically crafted with cognitive insights and grounded in real-world use cases. In this paper, we synthesize such instructions using attributed grounding, which involves 1) a top-down attribution process that grounds a selective set of real instructions to situated users, and 2) a bottom-up synthesis process that leverages web documents to first generate a situation, then a meaningful instruction. This framework allows us to harvest diverse and complex instructions at scale, utilizing the vast range of web documents. Specifically, we construct a dataset of 1 million instructions, called SynthQuestions, and demonstrate that models trained on it achieve leading performance on several common benchmarks, with improvements that continually scale with more web corpora. Data, models and codes will be available at https://github.com/Ignoramus0817/SynthQuestions.

3D creation has always been a unique human strength, driven by our ability to deconstruct and reassemble objects using our eyes, mind and hand. However, current 3D design tools struggle to replicate this natural process, requiring considerable artistic expertise and manual labor. This paper introduces BANG, a novel generative approach that bridges 3D generation and reasoning, allowing for intuitive and flexible part-level decomposition of 3D objects. At the heart of BANG is "Generative Exploded Dynamics", which creates a smooth sequence of exploded states for an input geometry, progressively separating parts while preserving their geometric and semantic coherence. BANG utilizes a pre-trained large-scale latent diffusion model, fine-tuned for exploded dynamics with a lightweight exploded view adapter, allowing precise control over the decomposition process. It also incorporates a temporal attention module to ensure smooth transitions and consistency across time. BANG enhances control with spatial prompts, such as bounding boxes and surface regions, enabling users to specify which parts to decompose and how. This interaction can be extended with multimodal models like GPT-4, enabling 2D-to-3D manipulations for more intuitive and creative workflows. The capabilities of BANG extend to generating detailed part-level geometry, associating parts with functional descriptions, and facilitating component-aware 3D creation and manufacturing workflows. Additionally, BANG offers applications in 3D printing, where separable parts are generated for easy printing and reassembly. In essence, BANG enables seamless transformation from imaginative concepts to detailed 3D assets, offering a new perspective on creation that resonates with human intuition.

Program synthesis strives to generate a computer program as a solution to a given problem specification, expressed with input-output examples or natural language descriptions. The prevalence of large language models advances the state-of-the-art for program synthesis, though limited training resources and data impede open access to such models. To democratize this, we train and release a family of large language models up to 16.1B parameters, called CODEGEN, on natural language and programming language data, and open source the training library JAXFORMER. We show the utility of the trained model by demonstrating that it is competitive with the previous state-of-the-art on zero-shot Python code generation on HumanEval. We further investigate the multi-step paradigm for program synthesis, where a single program is factorized into multiple prompts specifying subproblems. To this end, we construct an open benchmark, Multi-Turn Programming Benchmark (MTPB), consisting of 115 diverse problem sets that are factorized into multi-turn prompts. Our analysis on MTPB shows that the same intent provided to CODEGEN in multi-turn fashion significantly improves program synthesis over that provided as a single turn. We make the training library JAXFORMER and model checkpoints available as open source contribution: https://github.com/salesforce/CodeGen.

Large language models (LLMs) show great potential for synthetic data generation. This work shows that useful data can be synthetically generated even for tasks that cannot be solved directly by the LLM: we show that, for problems with structured outputs, it is possible to prompt an LLM to perform the task in the opposite direction, to generate plausible text for the target structure. Leveraging the asymmetry in task difficulty makes it possible to produce large-scale, high-quality data for complex tasks. We demonstrate the effectiveness of this approach on closed information extraction, where collecting ground-truth data is challenging, and no satisfactory dataset exists to date. We synthetically generate a dataset of 1.8M data points, demonstrate its superior quality compared to existing datasets in a human evaluation and use it to finetune small models (220M and 770M parameters). The models we introduce, SynthIE, outperform existing baselines of comparable size with a substantial gap of 57 and 79 absolute points in micro and macro F1, respectively. Code, data, and models are available at https://github.com/epfl-dlab/SynthIE.

Machine learning models, such as neural networks, decision trees, random forests, and gradient boosting machines, accept a feature vector, and provide a prediction. These models learn in a supervised fashion where we provide feature vectors mapped to the expected output. It is common practice to engineer new features from the provided feature set. Such engineered features will either augment or replace portions of the existing feature vector. These engineered features are essentially calculated fields based on the values of the other features. Engineering such features is primarily a manual, time-consuming task. Additionally, each type of model will respond differently to different kinds of engineered features. This paper reports empirical research to demonstrate what kinds of engineered features are best suited to various machine learning model types. We provide this recommendation by generating several datasets that we designed to benefit from a particular type of engineered feature. The experiment demonstrates to what degree the machine learning model can synthesize the needed feature on its own. If a model can synthesize a planned feature, it is not necessary to provide that feature. The research demonstrated that the studied models do indeed perform differently with various types of engineered features.

Although humans engaged in face-to-face conversation simultaneously communicate both verbally and non-verbally, methods for joint and unified synthesis of speech audio and co-speech 3D gesture motion from text are a new and emerging field. These technologies hold great promise for more human-like, efficient, expressive, and robust synthetic communication, but are currently held back by the lack of suitably large datasets, as existing methods are trained on parallel data from all constituent modalities. Inspired by student-teacher methods, we propose a straightforward solution to the data shortage, by simply synthesising additional training material. Specifically, we use unimodal synthesis models trained on large datasets to create multimodal (but synthetic) parallel training data, and then pre-train a joint synthesis model on that material. In addition, we propose a new synthesis architecture that adds better and more controllable prosody modelling to the state-of-the-art method in the field. Our results confirm that pre-training on large amounts of synthetic data improves the quality of both the speech and the motion synthesised by the multimodal model, with the proposed architecture yielding further benefits when pre-trained on the synthetic data. See https://shivammehta25.github.io/MAGI/ for example output.

Computer Aided Design (CAD) is indispensable across various industries. Text-based CAD editing, which automates the modification of CAD models based on textual instructions, holds great potential but remains underexplored. Existing methods primarily focus on design variation generation or text-based CAD generation, either lacking support for text-based control or neglecting existing CAD models as constraints. We introduce CAD-Editor, the first framework for text-based CAD editing. To address the challenge of demanding triplet data with accurate correspondence for training, we propose an automated data synthesis pipeline. This pipeline utilizes design variation models to generate pairs of original and edited CAD models and employs Large Vision-Language Models (LVLMs) to summarize their differences into editing instructions. To tackle the composite nature of text-based CAD editing, we propose a locate-then-infill framework that decomposes the task into two focused sub-tasks: locating regions requiring modification and infilling these regions with appropriate edits. Large Language Models (LLMs) serve as the backbone for both sub-tasks, leveraging their capabilities in natural language understanding and CAD knowledge. Experiments show that CAD-Editor achieves superior performance both quantitatively and qualitatively.

Leveraging new data sources is a key step in accelerating the pace of materials design and discovery. To complement the strides in synthesis planning driven by historical, experimental, and computed data, we present an automated method for connecting scientific literature to synthesis insights. Starting from natural language text, we apply word embeddings from language models, which are fed into a named entity recognition model, upon which a conditional variational autoencoder is trained to generate syntheses for arbitrary materials. We show the potential of this technique by predicting precursors for two perovskite materials, using only training data published over a decade prior to their first reported syntheses. We demonstrate that the model learns representations of materials corresponding to synthesis-related properties, and that the model's behavior complements existing thermodynamic knowledge. Finally, we apply the model to perform synthesizability screening for proposed novel perovskite compounds.

To enable automatic disassembly of different product types with uncertain conditions and degrees of wear in remanufacturing, agile production systems that can adapt dynamically to changing requirements are needed. Machine learning algorithms can be employed due to their generalization capabilities of learning from various types and variants of products. However, in reality, datasets with a diversity of samples that can be used to train models are difficult to obtain in the initial period. This may cause bad performances when the system tries to adapt to new unseen input data in the future. In order to generate large datasets for different learning purposes, in our project, we present a Blender add-on named MotorFactory to generate customized mesh models of various motor instances. MotorFactory allows to create mesh models which, complemented with additional add-ons, can be further used to create synthetic RGB images, depth images, normal images, segmentation ground truth masks, and 3D point cloud datasets with point-wise semantic labels. The created synthetic datasets may be used for various tasks including motor type classification, object detection for decentralized material transfer tasks, part segmentation for disassembly and handling tasks, or even reinforcement learning-based robotics control or view-planning.

DL compiler's primary function is to translate DNN programs written in high-level DL frameworks such as PyTorch and TensorFlow into portable executables. These executables can then be flexibly executed by the deployed host programs. However, existing DL compilers rely on a tracing mechanism, which involves feeding a runtime input to a neural network program and tracing the program execution paths to generate the computational graph necessary for compilation. Unfortunately, this mechanism falls short when dealing with modern dynamic neural networks (DyNNs) that possess varying computational graphs depending on the inputs. Consequently, conventional DL compilers struggle to accurately compile DyNNs into executable code. To address this limitation, we propose \tool, a general approach that enables any existing DL compiler to successfully compile DyNNs. \tool tackles the dynamic nature of DyNNs by introducing a compilation mechanism that redistributes the control and data flow of the original DNN programs during the compilation process. Specifically, \tool develops program analysis and program transformation techniques to convert a dynamic neural network into multiple sub-neural networks. Each sub-neural network is devoid of conditional statements and is compiled independently. Furthermore, \tool synthesizes a host module that models the control flow of the DyNNs and facilitates the invocation of the sub-neural networks. Our evaluation demonstrates the effectiveness of \tool, achieving a 100\% success rate in compiling all dynamic neural networks. Moreover, the compiled executables generated by \tool exhibit significantly improved performance, running between 1.12times and 20.21times faster than the original DyNNs executed on general-purpose DL frameworks.

Effective collaboration of dual-arm robots and their tool use capabilities are increasingly important areas in the advancement of robotics. These skills play a significant role in expanding robots' ability to operate in diverse real-world environments. However, progress is impeded by the scarcity of specialized training data. This paper introduces RoboTwin, a novel benchmark dataset combining real-world teleoperated data with synthetic data from digital twins, designed for dual-arm robotic scenarios. Using the COBOT Magic platform, we have collected diverse data on tool usage and human-robot interaction. We present a innovative approach to creating digital twins using AI-generated content, transforming 2D images into detailed 3D models. Furthermore, we utilize large language models to generate expert-level training data and task-specific pose sequences oriented toward functionality. Our key contributions are: 1) the RoboTwin benchmark dataset, 2) an efficient real-to-simulation pipeline, and 3) the use of language models for automatic expert-level data generation. These advancements are designed to address the shortage of robotic training data, potentially accelerating the development of more capable and versatile robotic systems for a wide range of real-world applications. The project page is available at https://robotwin-benchmark.github.io/early-version/

Computer-aided design (CAD) tools are utilized in the manufacturing industry for modeling everything from cups to spacecraft. These programs are complex to use and typically require years of training and experience to master. Structured and well-constrained 2D sketches and 3D constructions are crucial components of CAD modeling. A well-executed CAD model can be seamlessly integrated into the manufacturing process, thereby enhancing production efficiency. Deep generative models of 3D shapes and 3D object reconstruction models have garnered significant research interest. However, most of these models produce discrete forms of 3D objects that are not editable. Moreover, the few models based on CAD operations often have substantial input restrictions. In this work, we fine-tuned pre-trained models to create OpenECAD models (0.55B, 0.89B, 2.4B and 3.1B), leveraging the visual, logical, coding, and general capabilities of visual language models. OpenECAD models can process images of 3D designs as input and generate highly structured 2D sketches and 3D construction commands, ensuring that the designs are editable. These outputs can be directly used with existing CAD tools' APIs to generate project files. To train our network, we created a series of OpenECAD datasets. These datasets are derived from existing public CAD datasets, adjusted and augmented to meet the specific requirements of vision language model (VLM) training. Additionally, we have introduced an approach that utilizes dependency relationships to define and generate sketches, further enriching the content and functionality of the datasets.

We introduce SynFormer, a generative modeling framework designed to efficiently explore and navigate synthesizable chemical space. Unlike traditional molecular generation approaches, we generate synthetic pathways for molecules to ensure that designs are synthetically tractable. By incorporating a scalable transformer architecture and a diffusion module for building block selection, SynFormer surpasses existing models in synthesizable molecular design. We demonstrate SynFormer's effectiveness in two key applications: (1) local chemical space exploration, where the model generates synthesizable analogs of a reference molecule, and (2) global chemical space exploration, where the model aims to identify optimal molecules according to a black-box property prediction oracle. Additionally, we demonstrate the scalability of our approach via the improvement in performance as more computational resources become available. With our code and trained models openly available, we hope that SynFormer will find use across applications in drug discovery and materials science.

Recent advancements in implicit 3D representations and generative models have markedly propelled the field of 3D object generation forward. However, it remains a significant challenge to accurately model geometries with defined sharp features under parametric controls, which is crucial in fields like industrial design and manufacturing. To bridge this gap, we introduce a framework that employs Large Language Models (LLMs) to generate text-driven 3D shapes, manipulating 3D software via program synthesis. We present 3D-PreMise, a dataset specifically tailored for 3D parametric modeling of industrial shapes, designed to explore state-of-the-art LLMs within our proposed pipeline. Our work reveals effective generation strategies and delves into the self-correction capabilities of LLMs using a visual interface. Our work highlights both the potential and limitations of LLMs in 3D parametric modeling for industrial applications.

Artificial Intelligence (AI) advancement is heavily dependent on access to large-scale, high-quality training data. However, in specialized domains such as healthcare, data acquisition faces significant constraints due to privacy regulations, ethical considerations, and limited availability. While synthetic data generation offers a promising solution, conventional approaches typically require substantial real data for training generative models. The emergence of large-scale prompt-based models presents new opportunities for synthetic data generation without direct access to protected data. However, crafting effective prompts for domain-specific data generation remains challenging, and manual prompt engineering proves insufficient for achieving output with sufficient precision and authenticity. We review recent developments in automatic prompt optimization, following PRISMA guidelines. We analyze six peer-reviewed studies published between 2020 and 2024 that focus on automatic data-free prompt optimization methods. Our analysis reveals three approaches: feedback-driven, error-based, and control-theoretic. Although all approaches demonstrate promising capabilities in prompt refinement and adaptation, our findings suggest the need for an integrated framework that combines complementary optimization techniques to enhance synthetic data generation while minimizing manual intervention. We propose future research directions toward developing robust, iterative prompt optimization frameworks capable of improving the quality of synthetic data. This advancement can be particularly crucial for sensitive fields and in specialized domains where data access is restricted, potentially transforming how we approach synthetic data generation for AI development.

Manually tracking nutritional intake via food diaries is error-prone and burdensome. Automated computer vision techniques show promise for dietary monitoring but require large and diverse food image datasets. To address this need, we introduce NutritionVerse-Synth (NV-Synth), a large-scale synthetic food image dataset. NV-Synth contains 84,984 photorealistic meal images rendered from 7,082 dynamically plated 3D scenes. Each scene is captured from 12 viewpoints and includes perfect ground truth annotations such as RGB, depth, semantic, instance, and amodal segmentation masks, bounding boxes, and detailed nutritional information per food item. We demonstrate the diversity of NV-Synth across foods, compositions, viewpoints, and lighting. As the largest open-source synthetic food dataset, NV-Synth highlights the value of physics-based simulations for enabling scalable and controllable generation of diverse photorealistic meal images to overcome data limitations and drive advancements in automated dietary assessment using computer vision. In addition to the dataset, the source code for our data generation framework is also made publicly available at https://saeejithnair.github.io/nvsynth.

The ability to research and synthesize knowledge is central to human expertise and progress. An emerging class of systems promises these exciting capabilities through generative research synthesis, performing retrieval over the live web and synthesizing discovered sources into long-form, cited summaries. However, evaluating such systems remains an open challenge: existing question-answering benchmarks focus on short-form factual responses, while expert-curated datasets risk staleness and data contamination. Both fail to capture the complexity and evolving nature of real research synthesis tasks. In this work, we introduce DeepScholar-bench, a live benchmark and holistic, automated evaluation framework designed to evaluate generative research synthesis. DeepScholar-bench draws queries from recent, high-quality ArXiv papers and focuses on a real research synthesis task: generating the related work sections of a paper by retrieving, synthesizing, and citing prior research. Our evaluation framework holistically assesses performance across three key dimensions, knowledge synthesis, retrieval quality, and verifiability. We also develop DeepScholar-base, a reference pipeline implemented efficiently using the LOTUS API. Using the DeepScholar-bench framework, we perform a systematic evaluation of prior open-source systems, search AI's, OpenAI's DeepResearch, and DeepScholar-base. We find that DeepScholar-base establishes a strong baseline, attaining competitive or higher performance than each other method. We also find that DeepScholar-bench remains far from saturated, with no system exceeding a score of 19% across all metrics. These results underscore the difficulty of DeepScholar-bench, as well as its importance for progress towards AI systems capable of generative research synthesis. We make our code available at https://github.com/guestrin-lab/deepscholar-bench.

Automatic indoor layout generation has attracted increasing attention due to its potential in interior design, virtual environment construction, and embodied AI. Existing methods fall into two categories: prompt-driven approaches that leverage proprietary LLM services (e.g., GPT APIs) and learning-based methods trained on layout data upon diffusion-based models. Prompt-driven methods often suffer from spatial inconsistency and high computational costs, while learning-based methods are typically constrained by coarse relational graphs and limited datasets, restricting their generalization to diverse room categories. In this paper, we revisit LLM-based indoor layout generation and present 3D-SynthPlace, a large-scale dataset that combines synthetic layouts generated via a 'GPT synthesize, Human inspect' pipeline, upgraded from the 3D-Front dataset. 3D-SynthPlace contains nearly 17,000 scenes, covering four common room types -- bedroom, living room, kitchen, and bathroom -- enriched with diverse objects and high-level spatial annotations. We further introduce OptiScene, a strong open-source LLM optimized for indoor layout generation, fine-tuned based on our 3D-SynthPlace dataset through our two-stage training. For the warum-up stage I, we adopt supervised fine-tuning (SFT), which is taught to first generate high-level spatial descriptions then conditionally predict concrete object placements. For the reinforcing stage II, to better align the generated layouts with human design preferences, we apply multi-turn direct preference optimization (DPO), which significantly improving layout quality and generation success rates. Extensive experiments demonstrate that OptiScene outperforms traditional prompt-driven and learning-based baselines. Moreover, OptiScene shows promising potential in interactive tasks such as scene editing and robot navigation.

The creation of 3D assets with explicit, editable part structures is crucial for advancing interactive applications, yet most generative methods produce only monolithic shapes, limiting their utility. We introduce OmniPart, a novel framework for part-aware 3D object generation designed to achieve high semantic decoupling among components while maintaining robust structural cohesion. OmniPart uniquely decouples this complex task into two synergistic stages: (1) an autoregressive structure planning module generates a controllable, variable-length sequence of 3D part bounding boxes, critically guided by flexible 2D part masks that allow for intuitive control over part decomposition without requiring direct correspondences or semantic labels; and (2) a spatially-conditioned rectified flow model, efficiently adapted from a pre-trained holistic 3D generator, synthesizes all 3D parts simultaneously and consistently within the planned layout. Our approach supports user-defined part granularity, precise localization, and enables diverse downstream applications. Extensive experiments demonstrate that OmniPart achieves state-of-the-art performance, paving the way for more interpretable, editable, and versatile 3D content.

Large language models (LLMs) are shown to possess a wealth of actionable knowledge that can be extracted for robot manipulation in the form of reasoning and planning. Despite the progress, most still rely on pre-defined motion primitives to carry out the physical interactions with the environment, which remains a major bottleneck. In this work, we aim to synthesize robot trajectories, i.e., a dense sequence of 6-DoF end-effector waypoints, for a large variety of manipulation tasks given an open-set of instructions and an open-set of objects. We achieve this by first observing that LLMs excel at inferring affordances and constraints given a free-form language instruction. More importantly, by leveraging their code-writing capabilities, they can interact with a visual-language model (VLM) to compose 3D value maps to ground the knowledge into the observation space of the agent. The composed value maps are then used in a model-based planning framework to zero-shot synthesize closed-loop robot trajectories with robustness to dynamic perturbations. We further demonstrate how the proposed framework can benefit from online experiences by efficiently learning a dynamics model for scenes that involve contact-rich interactions. We present a large-scale study of the proposed method in both simulated and real-robot environments, showcasing the ability to perform a large variety of everyday manipulation tasks specified in free-form natural language. Project website: https://voxposer.github.io

Large language models (LLMs) are transforming automated program repair (APR) through agent-based approaches that localize bugs, generate patches, and verify fixes. However, the lack of high-quality, scalable training datasets, especially those with verifiable outputs and intermediate reasoning traces-limits progress, particularly for open-source models. In this work, we present SWE-Synth, a framework for synthesizing realistic, verifiable, and process-aware bug-fix datasets at the repository level. SWE-Synth leverages LLM agents to simulate debugging workflows, producing not only bug-fix pairs but also test cases and structured repair trajectories. Compared to manually curated datasets, our method scales with minimal human effort while preserving contextual richness and correctness. Experiments show that models trained on SWE-Synth outperform those trained on real-world datasets by 2.3% on SWE-Bench Lite. Our results highlight the potential of synthetic, agent-generated data to advance the state of the art in APR and software engineering automation.

Inductive program synthesis, or programming by example, requires synthesizing functions from input-output examples that generalize to unseen inputs. While large language model agents have shown promise in programming tasks guided by natural language, their ability to perform inductive program synthesis is underexplored. Existing evaluation protocols rely on static sets of examples and held-out tests, offering no feedback when synthesized functions are incorrect and failing to reflect real-world scenarios such as reverse engineering. We propose CodeARC, the Code Abstraction and Reasoning Challenge, a new evaluation framework where agents interact with a hidden target function by querying it with new inputs, synthesizing candidate functions, and iteratively refining their solutions using a differential testing oracle. This interactive setting encourages agents to perform function calls and self-correction based on feedback. We construct the first large-scale benchmark for general-purpose inductive program synthesis, featuring 1114 functions. Among 18 models evaluated, o3-mini performs best with a success rate of 52.7%, highlighting the difficulty of this task. Fine-tuning LLaMA-3.1-8B-Instruct on curated synthesis traces yields up to a 31% relative performance gain. CodeARC provides a more realistic and challenging testbed for evaluating LLM-based program synthesis and inductive reasoning.

Tumor synthesis can generate examples that AI often misses or over-detects, improving AI performance by training on these challenging cases. However, existing synthesis methods, which are typically unconditional -- generating images from random variables -- or conditioned only by tumor shapes, lack controllability over specific tumor characteristics such as texture, heterogeneity, boundaries, and pathology type. As a result, the generated tumors may be overly similar or duplicates of existing training data, failing to effectively address AI's weaknesses. We propose a new text-driven tumor synthesis approach, termed TextoMorph, that provides textual control over tumor characteristics. This is particularly beneficial for examples that confuse the AI the most, such as early tumor detection (increasing Sensitivity by +8.5%), tumor segmentation for precise radiotherapy (increasing DSC by +6.3%), and classification between benign and malignant tumors (improving Sensitivity by +8.2%). By incorporating text mined from radiology reports into the synthesis process, we increase the variability and controllability of the synthetic tumors to target AI's failure cases more precisely. Moreover, TextoMorph uses contrastive learning across different texts and CT scans, significantly reducing dependence on scarce image-report pairs (only 141 pairs used in this study) by leveraging a large corpus of 34,035 radiology reports. Finally, we have developed rigorous tests to evaluate synthetic tumors, including Text-Driven Visual Turing Test and Radiomics Pattern Analysis, showing that our synthetic tumors is realistic and diverse in texture, heterogeneity, boundaries, and pathology.

Recent synthetic 3D human datasets for the face, body, and hands have pushed the limits on photorealism. Face recognition and body pose estimation have achieved state-of-the-art performance using synthetic training data alone, but for the hand, there is still a large synthetic-to-real gap. This paper presents the first systematic study of the synthetic-to-real gap of 3D hand pose estimation. We analyze the gap and identify key components such as the forearm, image frequency statistics, hand pose, and object occlusions. To facilitate our analysis, we propose a data synthesis pipeline to synthesize high-quality data. We demonstrate that synthetic hand data can achieve the same level of accuracy as real data when integrating our identified components, paving the path to use synthetic data alone for hand pose estimation. Code and data are available at: https://github.com/delaprada/HandSynthesis.git.

Current approaches to program synthesis with Large Language Models (LLMs) exhibit a "near miss syndrome": they tend to generate programs that semantically resemble the correct answer (as measured by text similarity metrics or human evaluation), but achieve a low or even zero accuracy as measured by unit tests due to small imperfections, such as the wrong input or output format. This calls for an approach known as Synthesize, Execute, Debug (SED), whereby a draft of the solution is generated first, followed by a program repair phase addressing the failed tests. To effectively apply this approach to instruction-driven LLMs, one needs to determine which prompts perform best as instructions for LLMs, as well as strike a balance between repairing unsuccessful programs and replacing them with newly generated ones. We explore these trade-offs empirically, comparing replace-focused, repair-focused, and hybrid debug strategies, as well as different template-based and model-based prompt-generation techniques. We use OpenAI Codex as the LLM and Program Synthesis Benchmark 2 as a database of problem descriptions and tests for evaluation. The resulting framework outperforms both conventional usage of Codex without the repair phase and traditional genetic programming approaches.

Radiation therapy plays a crucial role in cancer treatment, necessitating precise delivery of radiation to tumors while sparing healthy tissues over multiple days. Computed tomography (CT) is integral for treatment planning, offering electron density data crucial for accurate dose calculations. However, accurately representing patient anatomy is challenging, especially in adaptive radiotherapy, where CT is not acquired daily. Magnetic resonance imaging (MRI) provides superior soft-tissue contrast. Still, it lacks electron density information while cone beam CT (CBCT) lacks direct electron density calibration and is mainly used for patient positioning. Adopting MRI-only or CBCT-based adaptive radiotherapy eliminates the need for CT planning but presents challenges. Synthetic CT (sCT) generation techniques aim to address these challenges by using image synthesis to bridge the gap between MRI, CBCT, and CT. The SynthRAD2023 challenge was organized to compare synthetic CT generation methods using multi-center ground truth data from 1080 patients, divided into two tasks: 1) MRI-to-CT and 2) CBCT-to-CT. The evaluation included image similarity and dose-based metrics from proton and photon plans. The challenge attracted significant participation, with 617 registrations and 22/17 valid submissions for tasks 1/2. Top-performing teams achieved high structural similarity indices (>0.87/0.90) and gamma pass rates for photon (>98.1%/99.0%) and proton (>99.0%/97.3%) plans. However, no significant correlation was found between image similarity metrics and dose accuracy, emphasizing the need for dose evaluation when assessing the clinical applicability of sCT. SynthRAD2023 facilitated the investigation and benchmarking of sCT generation techniques, providing insights for developing MRI-only and CBCT-based adaptive radiotherapy.

Sonar image synthesis is crucial for advancing applications in underwater exploration, marine biology, and defence. Traditional methods often rely on extensive and costly data collection using sonar sensors, jeopardizing data quality and diversity. To overcome these limitations, this study proposes a new sonar image synthesis framework, Synth-SONAR leveraging diffusion models and GPT prompting. The key novelties of Synth-SONAR are threefold: First, by integrating Generative AI-based style injection techniques along with publicly available real/simulated data, thereby producing one of the largest sonar data corpus for sonar research. Second, a dual text-conditioning sonar diffusion model hierarchy synthesizes coarse and fine-grained sonar images with enhanced quality and diversity. Third, high-level (coarse) and low-level (detailed) text-based sonar generation methods leverage advanced semantic information available in visual language models (VLMs) and GPT-prompting. During inference, the method generates diverse and realistic sonar images from textual prompts, bridging the gap between textual descriptions and sonar image generation. This marks the application of GPT-prompting in sonar imagery for the first time, to the best of our knowledge. Synth-SONAR achieves state-of-the-art results in producing high-quality synthetic sonar datasets, significantly enhancing their diversity and realism.

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals or distinct tasks, even during execution. However, most traditional methods require predefined module design, which makes it hard to generalize to different goals. Recent large language model based approaches can allow for more open-ended planning but often require heavy prompt engineering or domain-specific pretrained models. To tackle this, we propose a simple framework that achieves interactive task planning with language models. Our system incorporates both high-level planning and low-level function execution via language. We verify the robustness of our system in generating novel high-level instructions for unseen objectives and its ease of adaptation to different tasks by merely substituting the task guidelines, without the need for additional complex prompt engineering. Furthermore, when the user sends a new request, our system is able to replan accordingly with precision based on the new request, task guidelines and previously executed steps. Please check more details on our https://wuphilipp.github.io/itp_site and https://youtu.be/TrKLuyv26_g.

A transcompiler, also known as source-to-source translator, is a system that converts source code from a high-level programming language (such as C++ or Python) to another. Transcompilers are primarily used for interoperability, and to port codebases written in an obsolete or deprecated language (e.g. COBOL, Python 2) to a modern one. They typically rely on handcrafted rewrite rules, applied to the source code abstract syntax tree. Unfortunately, the resulting translations often lack readability, fail to respect the target language conventions, and require manual modifications in order to work properly. The overall translation process is timeconsuming and requires expertise in both the source and target languages, making code-translation projects expensive. Although neural models significantly outperform their rule-based counterparts in the context of natural language translation, their applications to transcompilation have been limited due to the scarcity of parallel data in this domain. In this paper, we propose to leverage recent approaches in unsupervised machine translation to train a fully unsupervised neural transcompiler. We train our model on source code from open source GitHub projects, and show that it can translate functions between C++, Java, and Python with high accuracy. Our method relies exclusively on monolingual source code, requires no expertise in the source or target languages, and can easily be generalized to other programming languages. We also build and release a test set composed of 852 parallel functions, along with unit tests to check the correctness of translations. We show that our model outperforms rule-based commercial baselines by a significant margin.

Screwdriving is one of the most popular industrial processes. As such, it is increasingly common to automate that procedure by using various robots. Even though the automation increases the efficiency of the screwdriving process, if the process is not monitored correctly, faults may occur during operation, which can impact the effectiveness and quality of assembly. Machine Learning (ML) has the potential to detect those undesirable events and limit their impact. In order to do so, first a dataset that fully describes the operation of an industrial robot performing automated screwdriving must be available. This report describes a dataset created using a UR3e series robot and OnRobot Screwdriver. We create different scenarios and introduce 4 types of anomalies to the process while all available robot and screwdriver sensors are continuously recorded. The resulting data contains 2042 samples of normal and anomalous robot operation. Brief ML benchmarks using this data are also provided, showcasing the data's suitability and potential for further analysis and experimentation.

The problem of automatically generating a computer program from some specification has been studied since the early days of AI. Recently, two competing approaches for automatic program learning have received significant attention: (1) neural program synthesis, where a neural network is conditioned on input/output (I/O) examples and learns to generate a program, and (2) neural program induction, where a neural network generates new outputs directly using a latent program representation. Here, for the first time, we directly compare both approaches on a large-scale, real-world learning task. We additionally contrast to rule-based program synthesis, which uses hand-crafted semantics to guide the program generation. Our neural models use a modified attention RNN to allow encoding of variable-sized sets of I/O pairs. Our best synthesis model achieves 92% accuracy on a real-world test set, compared to the 34% accuracy of the previous best neural synthesis approach. The synthesis model also outperforms a comparable induction model on this task, but we more importantly demonstrate that the strength of each approach is highly dependent on the evaluation metric and end-user application. Finally, we show that we can train our neural models to remain very robust to the type of noise expected in real-world data (e.g., typos), while a highly-engineered rule-based system fails entirely.

3D building models are critical for applications in architecture, energy simulation, and navigation. Yet, generating accurate and semantically rich 3D buildings automatically remains a major challenge due to the lack of large-scale annotated datasets in the public domain. Inspired by the success of synthetic data in computer vision, we introduce SYNBUILD-3D, a large, diverse, and multi-modal dataset of over 6.2 million synthetic 3D residential buildings at Level of Detail (LoD) 4. In the dataset, each building is represented through three distinct modalities: a semantically enriched 3D wireframe graph at LoD 4 (Modality I), the corresponding floor plan images (Modality II), and a LiDAR-like roof point cloud (Modality III). The semantic annotations for each building wireframe are derived from the corresponding floor plan images and include information on rooms, doors, and windows. Through its tri-modal nature, future work can use SYNBUILD-3D to develop novel generative AI algorithms that automate the creation of 3D building models at LoD 4, subject to predefined floor plan layouts and roof geometries, while enforcing semantic-geometric consistency. Dataset and code samples are publicly available at https://github.com/kdmayer/SYNBUILD-3D.

*Data Synthesis* is a promising way to train a small model with very little labeled data. One approach for data synthesis is to leverage the rich knowledge from large language models to synthesize pseudo training examples for small models, making it possible to achieve both data and compute efficiency at the same time. However, a key challenge in data synthesis is that the synthesized dataset often suffers from a large distributional discrepancy from the *real task* data distribution. Thus, in this paper, we propose *Synthesis Step by Step* (**S3**), a data synthesis framework that shrinks this distribution gap by iteratively extrapolating the errors made by a small model trained on the synthesized dataset on a small real-world validation dataset using a large language model. Extensive experiments on multiple NLP tasks show that our approach improves the performance of a small model by reducing the gap between the synthetic dataset and the real data, resulting in significant improvement compared to several baselines: 9.48% improvement compared to ZeroGen and 2.73% compared to GoldGen, and at most 15.17% improvement compared to the small model trained on human-annotated data.

We present Assembler, a scalable and generalizable framework for 3D part assembly that reconstructs complete objects from input part meshes and a reference image. Unlike prior approaches that mostly rely on deterministic part pose prediction and category-specific training, Assembler is designed to handle diverse, in-the-wild objects with varying part counts, geometries, and structures. It addresses the core challenges of scaling to general 3D part assembly through innovations in task formulation, representation, and data. First, Assembler casts part assembly as a generative problem and employs diffusion models to sample plausible configurations, effectively capturing ambiguities arising from symmetry, repeated parts, and multiple valid assemblies. Second, we introduce a novel shape-centric representation based on sparse anchor point clouds, enabling scalable generation in Euclidean space rather than SE(3) pose prediction. Third, we construct a large-scale dataset of over 320K diverse part-object assemblies using a synthesis and filtering pipeline built on existing 3D shape repositories. Assembler achieves state-of-the-art performance on PartNet and is the first to demonstrate high-quality assembly for complex, real-world objects. Based on Assembler, we further introduce an interesting part-aware 3D modeling system that generates high-resolution, editable objects from images, demonstrating potential for interactive and compositional design. Project page: https://assembler3d.github.io

Program synthesis aims to create accurate, executable code from natural language descriptions. This field has leveraged the power of reinforcement learning (RL) in conjunction with large language models (LLMs), significantly enhancing code generation capabilities. This integration focuses on directly optimizing functional correctness, transcending conventional supervised losses. While current literature predominantly favors policy-based algorithms, attributes of program synthesis suggest a natural compatibility with value-based methods. This stems from rich collection of off-policy programs developed by human programmers, and the straightforward verification of generated programs through automated unit testing (i.e. easily obtainable rewards in RL language). Diverging from the predominant use of policy-based algorithms, our work explores the applicability of value-based approaches, leading to the development of our B-Coder (pronounced Bellman coder). Yet, training value-based methods presents challenges due to the enormous search space inherent to program synthesis. To this end, we propose an initialization protocol for RL agents utilizing pre-trained LMs and a conservative Bellman operator to reduce training complexities. Moreover, we demonstrate how to leverage the learned value functions as a dual strategy to post-process generated programs. Our empirical evaluations demonstrated B-Coder's capability in achieving state-of-the-art performance compared with policy-based methods. Remarkably, this achievement is reached with minimal reward engineering effort, highlighting the effectiveness of value-based RL, independent of reward designs.

While Large Language Models (LLMs) have demonstrated enhanced capabilities in function-calling, these advancements primarily rely on accessing the functions' responses. This methodology is practical for simpler APIs but faces scalability issues with irreversible APIs that significantly impact the system, such as a database deletion API. Similarly, processes requiring extensive time for each API call and those necessitating forward planning, like automated action pipelines, present complex challenges. Furthermore, scenarios often arise where a generalized approach is needed because algorithms lack direct access to the specific implementations of these functions or secrets to use them. Traditional tool planning methods are inadequate in these cases, compelling the need to operate within black-box environments. Unlike their performance in tool manipulation, LLMs excel in black-box tasks, such as program synthesis. Therefore, we harness the program synthesis capabilities of LLMs to strategize tool usage in black-box settings, ensuring solutions are verified prior to implementation. We introduce TOPGUN, an ingeniously crafted approach leveraging program synthesis for black box tool planning. Accompanied by SwissNYF, a comprehensive suite that integrates black-box algorithms for planning and verification tasks, addressing the aforementioned challenges and enhancing the versatility and effectiveness of LLMs in complex API interactions. The public code for SwissNYF is available at https://github.com/iclr-dummy-user/SwissNYF.

In today's society, we are becoming increasingly dependent on software systems. However, we also constantly witness the negative impacts of buggy software. Program synthesis aims to improve software correctness by automatically generating the program given an outline of the expected behavior. For decades, program synthesis has been an active research field, with recent approaches looking to incorporate Large Language Models to help generate code. This paper explores the concept of LLM4TDD, where we guide Large Language Models to generate code iteratively using a test-driven development methodology. We conduct an empirical evaluation using ChatGPT and coding problems from LeetCode to investigate the impact of different test, prompt and problem attributes on the efficacy of LLM4TDD.

With advances in foundational and vision-language models, and effective fine-tuning techniques, a large number of both general and special-purpose models have been developed for a variety of visual tasks. Despite the flexibility and accessibility of these models, no single model is able to handle all tasks and/or applications that may be envisioned by potential users. Recent approaches, such as visual programming and multimodal LLMs with integrated tools aim to tackle complex visual tasks, by way of program synthesis. However, such approaches overlook user constraints (e.g., performance / computational needs), produce test-time sample-specific solutions that are difficult to deploy, and, sometimes, require low-level instructions that maybe beyond the abilities of a naive user. To address these limitations, we introduce MMFactory, a universal framework that includes model and metrics routing components, acting like a solution search engine across various available models. Based on a task description and few sample input-output pairs and (optionally) resource and/or performance constraints, MMFactory can suggest a diverse pool of programmatic solutions by instantiating and combining visio-lingual tools from its model repository. In addition to synthesizing these solutions, MMFactory also proposes metrics and benchmarks performance / resource characteristics, allowing users to pick a solution that meets their unique design constraints. From the technical perspective, we also introduced a committee-based solution proposer that leverages multi-agent LLM conversation to generate executable, diverse, universal, and robust solutions for the user. Experimental results show that MMFactory outperforms existing methods by delivering state-of-the-art solutions tailored to user problem specifications. Project page is available at https://davidhalladay.github.io/mmfactory_demo.

The study of biological materials and bio-inspired materials science is well established; however, surprisingly little knowledge has been systematically translated to engineering solutions. To accelerate discovery and guide insights, an open-source autoregressive transformer large language model (LLM), BioinspiredLLM, is reported. The model was finetuned with a corpus of over a thousand peer-reviewed articles in the field of structural biological and bio-inspired materials and can be prompted to recall information, assist with research tasks, and function as an engine for creativity. The model has proven that it is able to accurately recall information about biological materials and is further enhanced with enhanced reasoning ability, as well as with retrieval-augmented generation to incorporate new data during generation that can also help to traceback sources, update the knowledge base, and connect knowledge domains. BioinspiredLLM also has been shown to develop sound hypotheses regarding biological materials design and remarkably so for materials that have never been explicitly studied before. Lastly, the model showed impressive promise in collaborating with other generative artificial intelligence models in a workflow that can reshape the traditional materials design process. This collaborative generative artificial intelligence method can stimulate and enhance bio-inspired materials design workflows. Biological materials are at a critical intersection of multiple scientific fields and models like BioinspiredLLM help to connect knowledge domains.

We introduce SPAFormer, an innovative model designed to overcome the combinatorial explosion challenge in the 3D Part Assembly (3D-PA) task. This task requires accurate prediction of each part's poses in sequential steps. As the number of parts increases, the possible assembly combinations increase exponentially, leading to a combinatorial explosion that severely hinders the efficacy of 3D-PA. SPAFormer addresses this problem by leveraging weak constraints from assembly sequences, effectively reducing the solution space's complexity. Since the sequence of parts conveys construction rules similar to sentences structured through words, our model explores both parallel and autoregressive generation. We further strengthen SPAFormer through knowledge enhancement strategies that utilize the attributes of parts and their sequence information, enabling it to capture the inherent assembly pattern and relationships among sequentially ordered parts. We also construct a more challenging benchmark named PartNet-Assembly covering 21 varied categories to more comprehensively validate the effectiveness of SPAFormer. Extensive experiments demonstrate the superior generalization capabilities of SPAFormer, particularly with multi-tasking and in scenarios requiring long-horizon assembly. Code is available at https://github.com/xuboshen/SPAFormer.

Prompting and fine-tuning have emerged as two competing paradigms for augmenting language models with new capabilities, such as the use of tools. Prompting approaches are quick to set up but rely on providing explicit demonstrations of each tool's usage in the model's prompt, thus coupling tool use to the task at hand and limiting generalisation. Fine-tuning removes the need for task-specific demonstrations of tool usage at runtime; however, this ties new capabilities to a single model, thus making already-heavier setup costs a recurring expense. In this paper, we introduce language hooks, a novel framework for augmenting language models with new capabilities that is decoupled both from the model's task-specific prompt and from the model itself. The language hook algorithm interleaves text generation by the base model with the execution of modular programs that trigger conditionally based on the existing text and the available capabilities. Upon triggering, programs may call external tools, auxiliary language models (e.g. using tool specific prompts), and modify the existing context. We benchmark our method against state-of-the-art baselines, find that it outperforms task-aware approaches, and demonstrate its ability to generalise to novel tasks.

Program synthesis methods aim to automatically generate programs restricted to a language that can explain a given specification of input-output pairs. While purely symbolic approaches suffer from a combinatorial search space, recent methods leverage neural networks to learn distributions over program structures to narrow this search space significantly, enabling more efficient search. However, for challenging problems, it remains difficult to train models to perform program synthesis in one shot, making test-time search essential. Most neural methods lack structured search mechanisms during inference, relying instead on stochastic sampling or gradient updates, which can be inefficient. In this work, we propose the Latent Program Network (LPN), a general algorithm for program induction that learns a distribution over latent programs in a continuous space, enabling efficient search and test-time adaptation. We explore how to train these networks to optimize for test-time computation and demonstrate the use of gradient-based search both during training and at test time. We evaluate LPN on ARC-AGI, a program synthesis benchmark that evaluates performance by generalizing programs to new inputs rather than explaining the underlying specification. We show that LPN can generalize beyond its training distribution and adapt to unseen tasks by utilizing test-time computation, outperforming algorithms without test-time adaptation mechanisms.

The generation of industrial Computer-Aided Design (CAD) models from user requests and specifications is crucial to enhancing efficiency in modern manufacturing. Traditional methods of CAD generation rely heavily on manual inputs and struggle with complex or non-standard designs, making them less suited for dynamic industrial needs. To overcome these challenges, we introduce Text2CAD, a novel framework that employs stable diffusion models tailored to automate the generation process and efficiently bridge the gap between user specifications in text and functional CAD models. This approach directly translates the user's textural descriptions into detailed isometric images, which are then precisely converted into orthographic views, e.g., top, front, and side, providing sufficient information to reconstruct 3D CAD models. This process not only streamlines the creation of CAD models from textual descriptions but also ensures that the resulting models uphold physical and dimensional consistency essential for practical engineering applications. Our experimental results show that Text2CAD effectively generates technical drawings that are accurately translated into high-quality 3D CAD models, showing substantial potential to revolutionize CAD automation in response to user demands.

Existing approaches to multilingual text detoxification are hampered by the scarcity of parallel multilingual datasets. In this work, we introduce a pipeline for the generation of multilingual parallel detoxification data. We also introduce SynthDetoxM, a manually collected and synthetically generated multilingual parallel text detoxification dataset comprising 16,000 high-quality detoxification sentence pairs across German, French, Spanish and Russian. The data was sourced from different toxicity evaluation datasets and then rewritten with nine modern open-source LLMs in few-shot setting. Our experiments demonstrate that models trained on the produced synthetic datasets have superior performance to those trained on the human-annotated MultiParaDetox dataset even in data limited setting. Models trained on SynthDetoxM outperform all evaluated LLMs in few-shot setting. We release our dataset and code to help further research in multilingual text detoxification.

Large Language Model (LLM) based agents have garnered significant attention and are becoming increasingly popular. Furthermore, planning ability is a crucial component of an LLM-based agent, involving interaction with the environment and executing actions to complete a planning task, which generally entails achieving a desired goal from an initial state. This paper investigates enhancing the planning abilities of LLMs through instruction tuning, referred to as agent training. Recent studies have demonstrated that utilizing expert-level trajectory for instruction-tuning LLMs effectively enhances their planning capabilities. However, existing work primarily focuses on synthesizing trajectories from manually designed planning tasks and environments. The labor-intensive nature of creating these environments and tasks impedes the generation of sufficiently varied and extensive trajectories. To address this limitation, this paper explores the automated synthesis of diverse environments and a gradual range of planning tasks, from easy to difficult. We introduce a framework, AgentGen, that leverages LLMs first to generate environments and subsequently generate planning tasks conditioned on these environments. Specifically, to improve environmental diversity, we propose using an inspiration corpus composed of various domain-specific text segments as the context for synthesizing environments. Moreover, to increase the difficulty diversity of generated planning tasks, we propose a bidirectional evolution method, Bi-Evol, that evolves planning tasks from easier and harder directions to synthesize a task set with a smoother difficulty curve. The evaluation results derived from AgentBoard show that AgentGen greatly improves LLMs' planning ability, e.g., the AgentGen instruction-tuned Llama-3 8B surpasses GPT-3.5 in overall performance. Moreover, in certain tasks, it even outperforms GPT-4.

Large language models (LLMs) have exhibited their problem-solving abilities in mathematical reasoning. Solving realistic optimization (OPT) problems in application scenarios requires advanced and applied mathematics ability. However, current OPT benchmarks that merely solve linear programming are far from complex realistic situations. In this work, we propose OptiBench, a benchmark for End-to-end optimization problem-solving with human-readable inputs and outputs. OptiBench contains rich optimization problems, including linear and nonlinear programming with or without tabular data, which can comprehensively evaluate LLMs' solving ability. In our benchmark, LLMs are required to call a code solver to provide precise numerical answers. Furthermore, to alleviate the data scarcity for optimization problems, and to bridge the gap between open-source LLMs on a small scale (e.g., Llama-3-8b) and closed-source LLMs (e.g., GPT-4), we further propose a data synthesis method namely ReSocratic. Unlike general data synthesis methods that proceed from questions to answers, \ReSocratic first incrementally synthesizes formatted optimization demonstration with mathematical formulations step by step and then back-translates the generated demonstrations into questions. Based on this, we synthesize the ReSocratic-29k dataset. We further conduct supervised fine-tuning with ReSocratic-29k on multiple open-source models. Experimental results show that ReSocratic-29k significantly improves the performance of open-source models.

Program synthesis is challenging largely because of the difficulty of search in a large space of programs. Human programmers routinely tackle the task of writing complex programs by writing sub-programs and then analyzing their intermediate results to compose them in appropriate ways. Motivated by this intuition, we present a new synthesis approach that leverages learning to guide a bottom-up search over programs. In particular, we train a model to prioritize compositions of intermediate values during search conditioned on a given set of input-output examples. This is a powerful combination because of several emergent properties. First, in bottom-up search, intermediate programs can be executed, providing semantic information to the neural network. Second, given the concrete values from those executions, we can exploit rich features based on recent work on property signatures. Finally, bottom-up search allows the system substantial flexibility in what order to generate the solution, allowing the synthesizer to build up a program from multiple smaller sub-programs. Overall, our empirical evaluation finds that the combination of learning and bottom-up search is remarkably effective, even with simple supervised learning approaches. We demonstrate the effectiveness of our technique on two datasets, one from the SyGuS competition and one of our own creation.

Foley sound synthesis refers to the creation of authentic, diegetic sound effects for media, such as film or radio. In this study, we construct a neural Foley synthesizer capable of generating mono-audio clips across seven predefined categories. Our approach introduces multiple enhancements to existing models in the text-to-audio domain, with the goal of enriching the diversity and acoustic characteristics of the generated foleys. Notably, we utilize a pre-trained encoder that retains acoustical and musical attributes in intermediate embeddings, implement class-conditioning to enhance differentiability among foley classes in their intermediate representations, and devise an innovative transformer-based architecture for optimizing self-attention computations on very large inputs without compromising valuable information. Subsequent to implementation, we present intermediate outcomes that surpass the baseline, discuss practical challenges encountered in achieving optimal results, and outline potential pathways for further research.

Despite the significant strides made by generative AI in just a few short years, its future progress is constrained by the challenge of building modular and robust systems. This capability has been a cornerstone of past technological revolutions, which relied on combining components to create increasingly sophisticated and reliable systems. Cars, airplanes, computers, and software consist of components-such as engines, wheels, CPUs, and libraries-that can be assembled, debugged, and replaced. A key tool for building such reliable and modular systems is specification: the precise description of the expected behavior, inputs, and outputs of each component. However, the generality of LLMs and the inherent ambiguity of natural language make defining specifications for LLM-based components (e.g., agents) both a challenging and urgent problem. In this paper, we discuss the progress the field has made so far-through advances like structured outputs, process supervision, and test-time compute-and outline several future directions for research to enable the development of modular and reliable LLM-based systems through improved specifications.

Controllable 3D indoor scene synthesis stands at the forefront of technological progress, offering various applications like gaming, film, and augmented/virtual reality. The capability to stylize and de-couple objects within these scenarios is a crucial factor, providing an advanced level of control throughout the editing process. This control extends not just to manipulating geometric attributes like translation and scaling but also includes managing appearances, such as stylization. Current methods for scene stylization are limited to applying styles to the entire scene, without the ability to separate and customize individual objects. Addressing the intricacies of this challenge, we introduce a unique pipeline designed for synthesis 3D indoor scenes. Our approach involves strategically placing objects within the scene, utilizing information from professionally designed bounding boxes. Significantly, our pipeline prioritizes maintaining style consistency across multiple objects within the scene, ensuring a cohesive and visually appealing result aligned with the desired aesthetic. The core strength of our pipeline lies in its ability to generate 3D scenes that are not only visually impressive but also exhibit features like photorealism, multi-view consistency, and diversity. These scenes are crafted in response to various natural language prompts, demonstrating the versatility and adaptability of our model.

Machine learning classification problems are widespread in bioinformatics, but the technical knowledge required to perform model training, optimization, and inference can prevent researchers from utilizing this technology. This article presents an automated tool for machine learning classification problems to simplify the process of training models and producing results while providing informative visualizations and insights into the data. This tool supports both binary and multiclass classification problems, and it provides access to a variety of models and methods. Synthetic data can be generated within the interface to fill missing values, balance class labels, or generate entirely new datasets. It also provides support for feature evaluation and generates explainability scores to indicate which features influence the output the most. We present CLASSify, an open-source tool for simplifying the user experience of solving classification problems without the need for knowledge of machine learning.

Recent work has considered whether large language models (LLMs) can function as planners: given a task, generate a plan. We investigate whether LLMs can serve as generalized planners: given a domain and training tasks, generate a program that efficiently produces plans for other tasks in the domain. In particular, we consider PDDL domains and use GPT-4 to synthesize Python programs. We also consider (1) Chain-of-Thought (CoT) summarization, where the LLM is prompted to summarize the domain and propose a strategy in words before synthesizing the program; and (2) automated debugging, where the program is validated with respect to the training tasks, and in case of errors, the LLM is re-prompted with four types of feedback. We evaluate this approach in seven PDDL domains and compare it to four ablations and four baselines. Overall, we find that GPT-4 is a surprisingly powerful generalized planner. We also conclude that automated debugging is very important, that CoT summarization has non-uniform impact, that GPT-4 is far superior to GPT-3.5, and that just two training tasks are often sufficient for strong generalization.

Learning how the world works is central to building AI agents that can adapt to complex environments. Traditional world models based on deep learning demand vast amounts of training data, and do not flexibly update their knowledge from sparse observations. Recent advances in program synthesis using Large Language Models (LLMs) give an alternate approach which learns world models represented as source code, supporting strong generalization from little data. To date, application of program-structured world models remains limited to natural language and grid-world domains. We introduce a novel program synthesis method for effectively modeling complex, non-gridworld domains by representing a world model as an exponentially-weighted product of programmatic experts (PoE-World) synthesized by LLMs. We show that this approach can learn complex, stochastic world models from just a few observations. We evaluate the learned world models by embedding them in a model-based planning agent, demonstrating efficient performance and generalization to unseen levels on Atari's Pong and Montezuma's Revenge. We release our code and display the learned world models and videos of the agent's gameplay at https://topwasu.github.io/poe-world.

Recent advances in 3D AIGC have shown promise in directly creating 3D objects from text and images, offering significant cost savings in animation and product design. However, detailed edit and customization of 3D assets remains a long-standing challenge. Specifically, 3D Generation methods lack the ability to follow finely detailed instructions as precisely as their 2D image creation counterparts. Imagine you can get a toy through 3D AIGC but with undesired accessories and dressing. To tackle this challenge, we propose a novel pipeline called Tailor3D, which swiftly creates customized 3D assets from editable dual-side images. We aim to emulate a tailor's ability to locally change objects or perform overall style transfer. Unlike creating 3D assets from multiple views, using dual-side images eliminates conflicts on overlapping areas that occur when editing individual views. Specifically, it begins by editing the front view, then generates the back view of the object through multi-view diffusion. Afterward, it proceeds to edit the back views. Finally, a Dual-sided LRM is proposed to seamlessly stitch together the front and back 3D features, akin to a tailor sewing together the front and back of a garment. The Dual-sided LRM rectifies imperfect consistencies between the front and back views, enhancing editing capabilities and reducing memory burdens while seamlessly integrating them into a unified 3D representation with the LoRA Triplane Transformer. Experimental results demonstrate Tailor3D's effectiveness across various 3D generation and editing tasks, including 3D generative fill and style transfer. It provides a user-friendly, efficient solution for editing 3D assets, with each editing step taking only seconds to complete.

We release the Nemotron-4 340B model family, including Nemotron-4-340B-Base, Nemotron-4-340B-Instruct, and Nemotron-4-340B-Reward. Our models are open access under the NVIDIA Open Model License Agreement, a permissive model license that allows distribution, modification, and use of the models and its outputs. These models perform competitively to open access models on a wide range of evaluation benchmarks, and were sized to fit on a single DGX H100 with 8 GPUs when deployed in FP8 precision. We believe that the community can benefit from these models in various research studies and commercial applications, especially for generating synthetic data to train smaller language models. Notably, over 98% of data used in our model alignment process is synthetically generated, showcasing the effectiveness of these models in generating synthetic data. To further support open research and facilitate model development, we are also open-sourcing the synthetic data generation pipeline used in our model alignment process.

Program synthesis or code generation aims to generate a program that satisfies a problem specification. Recent approaches using large-scale pretrained language models (LMs) have shown promising results, yet they have some critical limitations. In particular, they often follow a standard supervised fine-tuning procedure to train a code generation model only from the pairs of natural-language problem descriptions and ground-truth programs. Such paradigm largely ignores some important but potentially useful signals in the problem specification such as unit tests, which thus often results in poor performance when solving complex unseen coding tasks. To address the limitations, we propose "CodeRL", a new framework for program synthesis tasks through pretrained LMs and deep reinforcement learning (RL). Specifically, during training, we treat the code-generating LM as an actor network, and introduce a critic network that is trained to predict the functional correctness of generated programs and provide dense feedback signals to the actor. During inference, we introduce a new generation procedure with a critical sampling strategy that allows a model to automatically regenerate programs based on feedback from example unit tests and critic scores. For the model backbones, we extended the encoder-decoder architecture of CodeT5 with enhanced learning objectives, larger model sizes, and better pretraining data. Our method not only achieves new SOTA results on the challenging APPS benchmark, but also shows strong zero-shot transfer capability with new SOTA results on the simpler MBPP benchmark.

Foundation models are redefining how AI systems are built. Practitioners now follow a standard procedure to build their machine learning solutions: from a pre-trained foundation model, they fine-tune the weights on the target task of interest. So, the Internet is swarmed by a handful of foundation models fine-tuned on many diverse tasks: these individual fine-tunings exist in isolation without benefiting from each other. In our opinion, this is a missed opportunity, as these specialized models contain rich and diverse features. In this paper, we thus propose model ratatouille, a new strategy to recycle the multiple fine-tunings of the same foundation model on diverse auxiliary tasks. Specifically, we repurpose these auxiliary weights as initializations for multiple parallel fine-tunings on the target task; then, we average all fine-tuned weights to obtain the final model. This recycling strategy aims at maximizing the diversity in weights by leveraging the diversity in auxiliary tasks. Empirically, it improves the state of the art on the reference DomainBed benchmark for out-of-distribution generalization. Looking forward, this work contributes to the emerging paradigm of updatable machine learning where, akin to open-source software development, the community collaborates to reliably update machine learning models.

In this work, we study how to build a robotic system that can solve multiple 3D manipulation tasks given language instructions. To be useful in industrial and household domains, such a system should be capable of learning new tasks with few demonstrations and solving them precisely. Prior works, like PerAct and RVT, have studied this problem, however, they often struggle with tasks requiring high precision. We study how to make them more effective, precise, and fast. Using a combination of architectural and system-level improvements, we propose RVT-2, a multitask 3D manipulation model that is 6X faster in training and 2X faster in inference than its predecessor RVT. RVT-2 achieves a new state-of-the-art on RLBench, improving the success rate from 65% to 82%. RVT-2 is also effective in the real world, where it can learn tasks requiring high precision, like picking up and inserting plugs, with just 10 demonstrations. Visual results, code, and trained model are provided at: https://robotic-view-transformer-2.github.io/.

Instruction Tuning involves finetuning a language model on a collection of instruction-formatted datasets in order to enhance the generalizability of the model to unseen tasks. Studies have shown the importance of balancing different task proportions during finetuning, but finding the right balance remains challenging. Unfortunately, there's currently no systematic method beyond manual tuning or relying on practitioners' intuition. In this paper, we introduce SMART (Submodular data Mixture strAtegy for instRuction Tuning) - a novel data mixture strategy which makes use of a submodular function to assign importance scores to tasks which are then used to determine the mixture weights. Given a fine-tuning budget, SMART redistributes the budget among tasks and selects non-redundant samples from each task. Experimental results demonstrate that SMART significantly outperforms traditional methods such as examples proportional mixing and equal mixing. Furthermore, SMART facilitates the creation of data mixtures based on a few representative subsets of tasks alone and through task pruning analysis, we reveal that in a limited budget setting, allocating budget among a subset of representative tasks yields superior performance compared to distributing the budget among all tasks. The code for reproducing our results is open-sourced at https://github.com/kowndinya-renduchintala/SMART.

Exploiting the recent advancements in artificial intelligence, showcased by ChatGPT and DALL-E, in real-world applications necessitates vast, domain-specific, and publicly accessible datasets. Unfortunately, the scarcity of such datasets poses a significant challenge for researchers aiming to apply these breakthroughs in engineering design. Synthetic datasets emerge as a viable alternative. However, practitioners are often uncertain about generating high-quality datasets that accurately represent real-world data and are suitable for the intended downstream applications. This study aims to fill this knowledge gap by proposing comprehensive guidelines for generating, annotating, and validating synthetic datasets. The trade-offs and methods associated with each of these aspects are elaborated upon. Further, the practical implications of these guidelines are illustrated through the creation of a turbo-compressors dataset. The study underscores the importance of thoughtful sampling methods to ensure the appropriate size, diversity, utility, and realism of a dataset. It also highlights that design diversity does not equate to performance diversity or realism. By employing test sets that represent uniform, real, or task-specific samples, the influence of sample size and sampling strategy is scrutinized. Overall, this paper offers valuable insights for researchers intending to create and publish synthetic datasets for engineering design, thereby paving the way for more effective applications of AI advancements in the field. The code and data for the dataset and methods are made publicly accessible at https://github.com/cyrilpic/radcomp .

Task planning can require defining myriad domain knowledge about the world in which a robot needs to act. To ameliorate that effort, large language models (LLMs) can be used to score potential next actions during task planning, and even generate action sequences directly, given an instruction in natural language with no additional domain information. However, such methods either require enumerating all possible next steps for scoring, or generate free-form text that may contain actions not possible on a given robot in its current context. We present a programmatic LLM prompt structure that enables plan generation functional across situated environments, robot capabilities, and tasks. Our key insight is to prompt the LLM with program-like specifications of the available actions and objects in an environment, as well as with example programs that can be executed. We make concrete recommendations about prompt structure and generation constraints through ablation experiments, demonstrate state of the art success rates in VirtualHome household tasks, and deploy our method on a physical robot arm for tabletop tasks. Website at progprompt.github.io

Computer-Aided Design (CAD) plays a central role in engineering and manufacturing, making it possible to create precise and editable 3D models. Using a variety of sensor or user-provided data as inputs for CAD reconstruction can democratize access to design applications. However, existing methods typically focus on a single input modality, such as point clouds, images, or text, which limits their generalizability and robustness. Leveraging recent advances in vision-language models (VLM), we propose a multi-modal CAD reconstruction model that simultaneously processes all three input modalities. Inspired by large language model (LLM) training paradigms, we adopt a two-stage pipeline: supervised fine-tuning (SFT) on large-scale procedurally generated data, followed by reinforcement learning (RL) fine-tuning using online feedback, obtained programatically. Furthermore, we are the first to explore RL fine-tuning of LLMs for CAD tasks demonstrating that online RL algorithms such as Group Relative Preference Optimization (GRPO) outperform offline alternatives. In the DeepCAD benchmark, our SFT model outperforms existing single-modal approaches in all three input modalities simultaneously. More importantly, after RL fine-tuning, cadrille sets new state-of-the-art on three challenging datasets, including a real-world one.

As the complexity of robot systems increases, it becomes more effective to simulate them before deployment. To do this, a model of the robot's kinematics or dynamics is required, and the most commonly used format is the Unified Robot Description Format (URDF). This article presents, to our knowledge, the first dataset of URDF files from various industrial and research organizations, with metadata describing each robot, its type, manufacturer, and the source of the model. The dataset contains 322 URDF files of which 195 are unique robot models, meaning the excess URDFs are either of a robot that is multiply defined across sources or URDF variants of the same robot. We analyze the files in the dataset, where we, among other things, provide information on how they were generated, which mesh file types are most commonly used, and compare models of multiply defined robots. The intention of this article is to build a foundation of knowledge on URDF and how it is used based on publicly available URDF files. Publishing the dataset, analysis, and the scripts and tools used enables others using, researching or developing URDFs to easily access this data and use it in their own work.

Despite recent progress in Language Models (LMs) for software engineering, collecting training data remains a significant pain point. Existing datasets are small, with at most 1,000s of training instances from 11 or fewer GitHub repositories. The procedures to curate such datasets are often complex, necessitating hundreds of hours of human labor; companion execution environments also take up several terabytes of storage, severely limiting their scalability and usability. To address this pain point, we introduce SWE-smith, a novel pipeline for generating software engineering training data at scale. Given any Python codebase, SWE-smith constructs a corresponding execution environment, then automatically synthesizes 100s to 1,000s of task instances that break existing test(s) in the codebase. Using SWE-smith, we create a dataset of 50k instances sourced from 128 GitHub repositories, an order of magnitude larger than all previous works. We train SWE-agent-LM-32B, achieving 40.2% Pass@1 resolve rate on the SWE-bench Verified benchmark, state of the art among open source models. We open source SWE-smith (collection procedure, task instances, trajectories, models) to lower the barrier of entry for research in LM systems for automated software engineering. All assets available at https://swesmith.com.

Several recent advances in AI systems (e.g., Tree-of-Thoughts and Program-Aided Language Models) solve problems by providing a "scaffolding" program that structures multiple calls to language models to generate better outputs. A scaffolding program is written in a programming language such as Python. In this work, we use a language-model-infused scaffolding program to improve itself. We start with a seed "improver" that improves an input program according to a given utility function by querying a language model several times and returning the best solution. We then run this seed improver to improve itself. Across a small set of downstream tasks, the resulting improved improver generates programs with significantly better performance than its seed improver. Afterward, we analyze the variety of self-improvement strategies proposed by the language model, including beam search, genetic algorithms, and simulated annealing. Since the language models themselves are not altered, this is not full recursive self-improvement. Nonetheless, it demonstrates that a modern language model, GPT-4 in our proof-of-concept experiments, is capable of writing code that can call itself to improve itself. We critically consider concerns around the development of self-improving technologies and evaluate the frequency with which the generated code bypasses a sandbox.

We introduce PartCrafter, the first structured 3D generative model that jointly synthesizes multiple semantically meaningful and geometrically distinct 3D meshes from a single RGB image. Unlike existing methods that either produce monolithic 3D shapes or follow two-stage pipelines, i.e., first segmenting an image and then reconstructing each segment, PartCrafter adopts a unified, compositional generation architecture that does not rely on pre-segmented inputs. Conditioned on a single image, it simultaneously denoises multiple 3D parts, enabling end-to-end part-aware generation of both individual objects and complex multi-object scenes. PartCrafter builds upon a pretrained 3D mesh diffusion transformer (DiT) trained on whole objects, inheriting the pretrained weights, encoder, and decoder, and introduces two key innovations: (1) A compositional latent space, where each 3D part is represented by a set of disentangled latent tokens; (2) A hierarchical attention mechanism that enables structured information flow both within individual parts and across all parts, ensuring global coherence while preserving part-level detail during generation. To support part-level supervision, we curate a new dataset by mining part-level annotations from large-scale 3D object datasets. Experiments show that PartCrafter outperforms existing approaches in generating decomposable 3D meshes, including parts that are not directly visible in input images, demonstrating the strength of part-aware generative priors for 3D understanding and synthesis. Code and training data will be released.

Research on Machine Translation (MT) has achieved important breakthroughs in several areas. While there is much more to be done in order to build on this success, we believe that the language industry needs better ways to take full advantage of current achievements. Due to a combination of factors, including time, resources, and skills, businesses tend to apply pragmatism into their AI workflows. Hence, they concentrate more on outcomes, e.g. delivery, shipping, releases, and features, and adopt high-level working production solutions, where possible. Among the features thought to be helpful for translators are sentence-level and word-level translation auto-suggestion and auto-completion. Suggesting alternatives can inspire translators and limit their need to refer to external resources, which hopefully boosts their productivity. This work describes our submissions to WMT's shared task on word-level auto-completion, for the Chinese-to-English, English-to-Chinese, German-to-English, and English-to-German language directions. We investigate the possibility of using pre-trained models and out-of-the-box features from available libraries. We employ random sampling to generate diverse alternatives, which reveals good results. Furthermore, we introduce our open-source API, based on CTranslate2, to serve translations, auto-suggestions, and auto-completions.

Language instructions and demonstrations are two natural ways for users to teach robots personalized tasks. Recent progress in Large Language Models (LLMs) has shown impressive performance in translating language instructions into code for robotic tasks. However, translating demonstrations into task code continues to be a challenge due to the length and complexity of both demonstrations and code, making learning a direct mapping intractable. This paper presents Demo2Code, a novel framework that generates robot task code from demonstrations via an extended chain-of-thought and defines a common latent specification to connect the two. Our framework employs a robust two-stage process: (1) a recursive summarization technique that condenses demonstrations into concise specifications, and (2) a code synthesis approach that expands each function recursively from the generated specifications. We conduct extensive evaluation on various robot task benchmarks, including a novel game benchmark Robotouille, designed to simulate diverse cooking tasks in a kitchen environment. The project's website is available at https://portal-cornell.github.io/demo2code/

Can one inject new concepts into an already trained generative model, while respecting its existing structure and knowledge? We propose a new task - domain expansion - to address this. Given a pretrained generator and novel (but related) domains, we expand the generator to jointly model all domains, old and new, harmoniously. First, we note the generator contains a meaningful, pretrained latent space. Is it possible to minimally perturb this hard-earned representation, while maximally representing the new domains? Interestingly, we find that the latent space offers unused, "dormant" directions, which do not affect the output. This provides an opportunity: By "repurposing" these directions, we can represent new domains without perturbing the original representation. In fact, we find that pretrained generators have the capacity to add several - even hundreds - of new domains! Using our expansion method, one "expanded" model can supersede numerous domain-specific models, without expanding the model size. Additionally, a single expanded generator natively supports smooth transitions between domains, as well as composition of domains. Code and project page available at https://yotamnitzan.github.io/domain-expansion/.

Real-world applications often require a large gallery of 3D assets that share a consistent theme. While remarkable advances have been made in general 3D content creation from text or image, synthesizing customized 3D assets following the shared theme of input 3D exemplars remains an open and challenging problem. In this work, we present ThemeStation, a novel approach for theme-aware 3D-to-3D generation. ThemeStation synthesizes customized 3D assets based on given few exemplars with two goals: 1) unity for generating 3D assets that thematically align with the given exemplars and 2) diversity for generating 3D assets with a high degree of variations. To this end, we design a two-stage framework that draws a concept image first, followed by a reference-informed 3D modeling stage. We propose a novel dual score distillation (DSD) loss to jointly leverage priors from both the input exemplars and the synthesized concept image. Extensive experiments and user studies confirm that ThemeStation surpasses prior works in producing diverse theme-aware 3D models with impressive quality. ThemeStation also enables various applications such as controllable 3D-to-3D generation.

Accurately identifying the synthesis conditions of metal-organic frameworks (MOFs) is essential for guiding experimental design, yet remains challenging because relevant information in the literature is often scattered, inconsistent, and difficult to interpret. We present MOFh6, a large language model driven system that reads raw articles or crystal codes and converts them into standardized synthesis tables. It links related descriptions across paragraphs, unifies ligand abbreviations with full names, and outputs structured parameters ready for use. MOFh6 achieved 99% extraction accuracy, resolved 94.1% of abbreviation cases across five major publishers, and maintained a precision of 0.93 +/- 0.01. Processing a full text takes 9.6 s, locating synthesis descriptions 36 s, with 100 papers processed for USD 4.24. By replacing static database lookups with real-time extraction, MOFh6 reshapes MOF synthesis research, accelerating the conversion of literature knowledge into practical synthesis protocols and enabling scalable, data-driven materials discovery.

A story premise succinctly defines a story's main idea, foundation, and trajectory. It serves as the initial trigger in automatic story generation. Existing sources of story premises are limited by a lack of diversity, uneven quality, and high costs that make them difficult to scale. In response, we introduce Modular Story Premise Synthesis (MoPS) which breaks down story premises into modules like background and persona for automated design and generation. MoPS consists of three phases: (1) Precollect a consistent set of candidates for each module to form a nested dictionary. (2) Extract a key path from the nested dictionary as the premise design. (3) Instruct an LLM to integrate the design into a coherent premise sentence. Thorough evaluations demonstrate that our synthesized premises excel in diversity, fascination, completeness, and originality compared to those induced from large language models and captured from public story datasets. Similarly, the extended novels and scripts generated from our premises also exhibit higher quality. In supplementary materials, we provide the MoPS code suite, along with 7.6k generated premises and 1k extended stories. Code: https://github.com/GAIR-NLP/MoPS.

During Automated Program Repair (APR), it can be challenging to synthesize correct patches for real-world systems in general-purpose programming languages. Recent Large Language Models (LLMs) have been shown to be helpful "copilots" in assisting developers with various coding tasks, and have also been directly applied for patch synthesis. However, most LLMs treat programs as sequences of tokens, meaning that they are ignorant of the underlying semantics constraints of the target programming language. This results in plenty of statically invalid generated patches, impeding the practicality of the technique. Therefore, we propose Repilot, a framework to further copilot the AI "copilots" (i.e., LLMs) by synthesizing more valid patches during the repair process. Our key insight is that many LLMs produce outputs autoregressively (i.e., token by token), resembling human writing programs, which can be significantly boosted and guided through a Completion Engine. Repilot synergistically synthesizes a candidate patch through the interaction between an LLM and a Completion Engine, which 1) prunes away infeasible tokens suggested by the LLM and 2) proactively completes the token based on the suggestions provided by the Completion Engine. Our evaluation on a subset of the widely-used Defects4j 1.2 and 2.0 datasets shows that Repilot fixes 66 and 50 bugs, respectively, surpassing the best-performing baseline by 14 and 16 bugs fixed. More importantly, Repilot is capable of producing more valid and correct patches than the base LLM when given the same generation budget.

Neural audio synthesis methods now allow specifying ideas in natural language. However, these methods produce results that cannot be easily tweaked, as they are based on large latent spaces and up to billions of uninterpretable parameters. We propose a text-to-audio generation method that leverages a virtual modular sound synthesizer with only 78 parameters. Synthesizers have long been used by skilled sound designers for media like music and film due to their flexibility and intuitive controls. Our method, CTAG, iteratively updates a synthesizer's parameters to produce high-quality audio renderings of text prompts that can be easily inspected and tweaked. Sounds produced this way are also more abstract, capturing essential conceptual features over fine-grained acoustic details, akin to how simple sketches can vividly convey visual concepts. Our results show how CTAG produces sounds that are distinctive, perceived as artistic, and yet similarly identifiable to recent neural audio synthesis models, positioning it as a valuable and complementary tool.

Throughout history, we have successfully integrated various machines into our homes. Dishwashers, laundry machines, stand mixers, and robot vacuums are a few recent examples. However, these machines excel at performing only a single task effectively. The concept of a "generalist machine" in homes - a domestic assistant that can adapt and learn from our needs, all while remaining cost-effective - has long been a goal in robotics that has been steadily pursued for decades. In this work, we initiate a large-scale effort towards this goal by introducing Dobb-E, an affordable yet versatile general-purpose system for learning robotic manipulation within household settings. Dobb-E can learn a new task with only five minutes of a user showing it how to do it, thanks to a demonstration collection tool ("The Stick") we built out of cheap parts and iPhones. We use the Stick to collect 13 hours of data in 22 homes of New York City, and train Home Pretrained Representations (HPR). Then, in a novel home environment, with five minutes of demonstrations and fifteen minutes of adapting the HPR model, we show that Dobb-E can reliably solve the task on the Stretch, a mobile robot readily available on the market. Across roughly 30 days of experimentation in homes of New York City and surrounding areas, we test our system in 10 homes, with a total of 109 tasks in different environments, and finally achieve a success rate of 81%. Beyond success percentages, our experiments reveal a plethora of unique challenges absent or ignored in lab robotics. These range from effects of strong shadows, to variable demonstration quality by non-expert users. With the hope of accelerating research on home robots, and eventually seeing robot butlers in every home, we open-source Dobb-E software stack and models, our data, and our hardware designs at https://dobb-e.com

In the modern world, technology is at its peak. Different avenues in programming and technology have been explored for data analysis, automation, and robotics. Machine learning is key to optimize data analysis, make accurate predictions, and hasten/improve existing functions. Thus, presently, the field of machine learning in artificial intelligence is being developed and its uses in varying fields are being explored. One field in which its uses stand out is that of microbial biosynthesis. In this paper, a comprehensive overview of the differing machine learning programs used in biosynthesis is provided, alongside brief descriptions of the fields of machine learning and microbial biosynthesis separately. This information includes past trends, modern developments, future improvements, explanations of processes, and current problems they face. Thus, this paper's main contribution is to distill developments in, and provide a holistic explanation of, 2 key fields and their applicability to improve industry/research. It also highlights challenges and research directions, acting to instigate more research and development in the growing fields. Finally, the paper aims to act as a reference for academics performing research, industry professionals improving their processes, and students looking to understand the concept of machine learning in biosynthesis.

Cypher, the query language for Neo4j graph databases, plays a critical role in enabling graph-based analytics and data exploration. While substantial research has been dedicated to natural language to SQL query generation (Text2SQL), the analogous problem for graph databases referred to as Text2Cypher remains underexplored. In this work, we introduce SynthCypher, a fully synthetic and automated data generation pipeline designed to address this gap. SynthCypher employs a novel LLMSupervised Generation-Verification framework, ensuring syntactically and semantically correct Cypher queries across diverse domains and query complexities. Using this pipeline, we create SynthCypher Dataset, a large-scale benchmark containing 29.8k Text2Cypher instances. Fine-tuning open-source large language models (LLMs), including LLaMa-3.1- 8B, Mistral-7B, and QWEN-7B, on SynthCypher yields significant performance improvements of up to 40% on the Text2Cypher test set and 30% on the SPIDER benchmark adapted for graph databases. This work demonstrates that high-quality synthetic data can effectively advance the state-of-the-art in Text2Cypher tasks.

Computer-aided design (CAD) is fundamental to modern engineering and manufacturing, but creating CAD models still requires expert knowledge and specialized software. Recent advances in large language models (LLMs) open up the possibility of generative CAD, where natural language is directly translated into parametric 3D models. However, most existing methods generate task-specific command sequences that pretrained models cannot directly handle. These sequences must be converted into CAD representations such as CAD vectors before a 3D model can be produced, which requires training models from scratch and adds unnecessary complexity. To tackle this issue, we propose generating CadQuery code directly from text, leveraging the strengths of pretrained LLMs to produce 3D models without intermediate representations, using this Python-based scripting language. Since LLMs already excel at Python generation and spatial reasoning, fine-tuning them on Text-to-CadQuery data proves highly effective. Given that these capabilities typically improve with scale, we hypothesize that larger models will perform better after fine-tuning. To enable this, we augment the Text2CAD dataset with 170,000 CadQuery annotations. We fine-tune six open-source LLMs of varying sizes and observe consistent improvements. Our best model achieves a top-1 exact match of 69.3%, up from 58.8%, and reduces Chamfer Distance by 48.6%. Project page: https://github.com/Text-to-CadQuery/Text-to-CadQuery.

One of the central tasks in software maintenance is being able to understand and develop code changes. Thus, given a natural language description of the desired new operation of a function, an agent (human or AI) might be asked to generate the set of edits to that function to implement the desired new operation; likewise, given a set of edits to a function, an agent might be asked to generate a changed description, of that function's new workings. Thus, there is an incentive to train a neural model for change-related tasks. Motivated by this, we offer a new, "natural", large dataset of coupled changes to code and documentation mined from actual high-quality GitHub projects, where each sample represents a single commit where the code and the associated docstring were changed together. We present the methodology for gathering the dataset, and some sample, challenging (but realistic) tasks where our dataset provides opportunities for both learning and evaluation. We find that current models (specifically Llama-3.1 405B, Mixtral 8times22B) do find these maintenance-related tasks challenging.

Recently, 3D generation methods have shown their powerful ability to automate 3D model creation. However, most 3D generation methods only rely on an input image or a text prompt to generate a 3D model, which lacks the control of each component of the generated 3D model. Any modifications of the input image lead to an entire regeneration of the 3D models. In this paper, we introduce a new method called CMD that generates a 3D model from an input image while enabling flexible local editing of each component of the 3D model. In CMD, we formulate the 3D generation as a conditional multiview diffusion model, which takes the existing or known parts as conditions and generates the edited or added components. This conditional multiview diffusion model not only allows the generation of 3D models part by part but also enables local editing of 3D models according to the local revision of the input image without changing other 3D parts. Extensive experiments are conducted to demonstrate that CMD decomposes a complex 3D generation task into multiple components, improving the generation quality. Meanwhile, CMD enables efficient and flexible local editing of a 3D model by just editing one rendered image.

Maintaining legacy software requires many software and systems engineering hours. Assembly code programs, which demand low-level control over the computer machine state and have no variable names, are particularly difficult for humans to analyze. Existing conventional program translators guarantee correctness, but are hand-engineered for the source and target programming languages in question. Learned transpilation, i.e. automatic translation of code, offers an alternative to manual re-writing and engineering efforts. Automated symbolic program translation approaches guarantee correctness but struggle to scale to longer programs due to the exponentially large search space. Their rigid rule-based systems also limit their expressivity, so they can only reason about a reduced space of programs. Probabilistic neural language models (LMs) produce plausible outputs for every input, but do so at the cost of guaranteed correctness. In this work, we leverage the strengths of LMs and symbolic solvers in a neurosymbolic approach to learned transpilation for assembly code. Assembly code is an appropriate setting for a neurosymbolic approach, since assembly code can be divided into shorter non-branching basic blocks amenable to the use of symbolic methods. Guess & Sketch extracts alignment and confidence information from features of the LM then passes it to a symbolic solver to resolve semantic equivalence of the transpilation input and output. We test Guess & Sketch on three different test sets of assembly transpilation tasks, varying in difficulty, and show that it successfully transpiles 57.6% more examples than GPT-4 and 39.6% more examples than an engineered transpiler. We also share a training and evaluation dataset for this task.

Availability of large and diverse medical datasets is often challenged by privacy and data sharing restrictions. For successful application of machine learning techniques for disease diagnosis, prognosis, and precision medicine, large amounts of data are necessary for model building and optimization. To help overcome such limitations in the context of brain MRI, we present NeuroSynth: a collection of generative models of normative regional volumetric features derived from structural brain imaging. NeuroSynth models are trained on real brain imaging regional volumetric measures from the iSTAGING consortium, which encompasses over 40,000 MRI scans across 13 studies, incorporating covariates such as age, sex, and race. Leveraging NeuroSynth, we produce and offer 18,000 synthetic samples spanning the adult lifespan (ages 22-90 years), alongside the model's capability to generate unlimited data. Experimental results indicate that samples generated from NeuroSynth agree with the distributions obtained from real data. Most importantly, the generated normative data significantly enhance the accuracy of downstream machine learning models on tasks such as disease classification. Data and models are available at: https://huggingface.co/spaces/rongguangw/neuro-synth.

As Deep Learning algorithms continue to evolve and become more sophisticated, they require massive datasets for model training and efficacy of models. Some of those data requirements can be met with the help of existing datasets within the organizations. Current Machine Learning practices can be leveraged to generate synthetic data from an existing dataset. Further, it is well established that diversity in generated synthetic data relies on (and is perhaps limited by) statistical properties of available dataset within a single organization or entity. The more diverse an existing dataset is, the more expressive and generic synthetic data can be. However, given the scarcity of underlying data, it is challenging to collate big data in one organization. The diverse, non-overlapping dataset across distinct organizations provides an opportunity for them to contribute their limited distinct data to a larger pool that can be leveraged to further synthesize. Unfortunately, this raises data privacy concerns that some institutions may not be comfortable with. This paper proposes a novel approach to generate synthetic data - FedSyn. FedSyn is a collaborative, privacy preserving approach to generate synthetic data among multiple participants in a federated and collaborative network. FedSyn creates a synthetic data generation model, which can generate synthetic data consisting of statistical distribution of almost all the participants in the network. FedSyn does not require access to the data of an individual participant, hence protecting the privacy of participant's data. The proposed technique in this paper leverages federated machine learning and generative adversarial network (GAN) as neural network architecture for synthetic data generation. The proposed method can be extended to many machine learning problem classes in finance, health, governance, technology and many more.

When writing programs, people have the ability to tackle a new complex task by decomposing it into smaller and more familiar subtasks. While it is difficult to measure whether neural program synthesis methods have similar capabilities, we can measure whether they compositionally generalize, that is, whether a model that has been trained on the simpler subtasks is subsequently able to solve more complex tasks. In this paper, we characterize several different forms of compositional generalization that are desirable in program synthesis, forming a meta-benchmark which we use to create generalization tasks for two popular datasets, RobustFill and DeepCoder. We then propose ExeDec, a novel decomposition-based synthesis strategy that predicts execution subgoals to solve problems step-by-step informed by program execution at each step. ExeDec has better synthesis performance and greatly improved compositional generalization ability compared to baselines.

We present the Neural Waveshaping Unit (NEWT): a novel, lightweight, fully causal approach to neural audio synthesis which operates directly in the waveform domain, with an accompanying optimisation (FastNEWT) for efficient CPU inference. The NEWT uses time-distributed multilayer perceptrons with periodic activations to implicitly learn nonlinear transfer functions that encode the characteristics of a target timbre. Once trained, a NEWT can produce complex timbral evolutions by simple affine transformations of its input and output signals. We paired the NEWT with a differentiable noise synthesiser and reverb and found it capable of generating realistic musical instrument performances with only 260k total model parameters, conditioned on F0 and loudness features. We compared our method to state-of-the-art benchmarks with a multi-stimulus listening test and the Fr\'echet Audio Distance and found it performed competitively across the tested timbral domains. Our method significantly outperformed the benchmarks in terms of generation speed, and achieved real-time performance on a consumer CPU, both with and without FastNEWT, suggesting it is a viable basis for future creative sound design tools.

We introduce HackSynth, a novel Large Language Model (LLM)-based agent capable of autonomous penetration testing. HackSynth's dual-module architecture includes a Planner and a Summarizer, which enable it to generate commands and process feedback iteratively. To benchmark HackSynth, we propose two new Capture The Flag (CTF)-based benchmark sets utilizing the popular platforms PicoCTF and OverTheWire. These benchmarks include two hundred challenges across diverse domains and difficulties, providing a standardized framework for evaluating LLM-based penetration testing agents. Based on these benchmarks, extensive experiments are presented, analyzing the core parameters of HackSynth, including creativity (temperature and top-p) and token utilization. Multiple open source and proprietary LLMs were used to measure the agent's capabilities. The experiments show that the agent performed best with the GPT-4o model, better than what the GPT-4o's system card suggests. We also discuss the safety and predictability of HackSynth's actions. Our findings indicate the potential of LLM-based agents in advancing autonomous penetration testing and the importance of robust safeguards. HackSynth and the benchmarks are publicly available to foster research on autonomous cybersecurity solutions.

We present Synthio, a novel approach for augmenting small-scale audio classification datasets with synthetic data. Our goal is to improve audio classification accuracy with limited labeled data. Traditional data augmentation techniques, which apply artificial transformations (e.g., adding random noise or masking segments), struggle to create data that captures the true diversity present in real-world audios. To address this shortcoming, we propose to augment the dataset with synthetic audio generated from text-to-audio (T2A) diffusion models. However, synthesizing effective augmentations is challenging because not only should the generated data be acoustically consistent with the underlying small-scale dataset, but they should also have sufficient compositional diversity. To overcome the first challenge, we align the generations of the T2A model with the small-scale dataset using preference optimization. This ensures that the acoustic characteristics of the generated data remain consistent with the small-scale dataset. To address the second challenge, we propose a novel caption generation technique that leverages the reasoning capabilities of Large Language Models to (1) generate diverse and meaningful audio captions and (2) iteratively refine their quality. The generated captions are then used to prompt the aligned T2A model. We extensively evaluate Synthio on ten datasets and four simulated limited-data settings. Results indicate our method consistently outperforms all baselines by 0.1%-39% using a T2A model trained only on weakly-captioned AudioSet.

The pre-train and fine-tune paradigm in machine learning has had dramatic success in a wide range of domains because the use of existing data or pre-trained models on the internet enables quick and easy learning of new tasks. We aim to enable this paradigm in robotic reinforcement learning, allowing a robot to learn a new task with little human effort by leveraging data and models from the Internet. However, reinforcement learning often requires significant human effort in the form of manual reward specification or environment resets, even if the policy is pre-trained. We introduce RoboFuME, a reset-free fine-tuning system that pre-trains a multi-task manipulation policy from diverse datasets of prior experiences and self-improves online to learn a target task with minimal human intervention. Our insights are to utilize calibrated offline reinforcement learning techniques to ensure efficient online fine-tuning of a pre-trained policy in the presence of distribution shifts and leverage pre-trained vision language models (VLMs) to build a robust reward classifier for autonomously providing reward signals during the online fine-tuning process. In a diverse set of five real robot manipulation tasks, we show that our method can incorporate data from an existing robot dataset collected at a different institution and improve on a target task within as little as 3 hours of autonomous real-world experience. We also demonstrate in simulation experiments that our method outperforms prior works that use different RL algorithms or different approaches for predicting rewards. Project website: https://robofume.github.io

Recently, 3D generative models have shown promising performances in structure-based drug design by learning to generate ligands given target binding sites. However, only modeling the target-ligand distribution can hardly fulfill one of the main goals in drug discovery -- designing novel ligands with desired properties, e.g., high binding affinity, easily synthesizable, etc. This challenge becomes particularly pronounced when the target-ligand pairs used for training do not align with these desired properties. Moreover, most existing methods aim at solving de novo design task, while many generative scenarios requiring flexible controllability, such as R-group optimization and scaffold hopping, have received little attention. In this work, we propose DecompOpt, a structure-based molecular optimization method based on a controllable and decomposed diffusion model. DecompOpt presents a new generation paradigm which combines optimization with conditional diffusion models to achieve desired properties while adhering to the molecular grammar. Additionally, DecompOpt offers a unified framework covering both de novo design and controllable generation. To achieve so, ligands are decomposed into substructures which allows fine-grained control and local optimization. Experiments show that DecompOpt can efficiently generate molecules with improved properties than strong de novo baselines, and demonstrate great potential in controllable generation tasks.

Amphion is an open-source toolkit for Audio, Music, and Speech Generation, designed to lower the entry barrier for junior researchers and engineers in these fields. It provides a versatile framework that supports a variety of generation tasks and models. In this report, we introduce Amphion v0.2, the second major release developed in 2024. This release features a 100K-hour open-source multilingual dataset, a robust data preparation pipeline, and novel models for tasks such as text-to-speech, audio coding, and voice conversion. Furthermore, the report includes multiple tutorials that guide users through the functionalities and usage of the newly released models.

As the demand for high-quality data in model training grows, researchers and developers are increasingly generating synthetic data to tune and train LLMs. A common assumption about synthetic data is that sampling from instruct-tuned models is sufficient; however, these models struggle to produce diverse outputs-a key requirement for generalization. Despite various prompting methods, in this work we show that achieving meaningful diversity from instruct-tuned models remains challenging. In contrast, we find base models without post-training exhibit greater diversity, but are less capable at instruction following and hence of lower quality. Leveraging this insight, we propose Base-Refine (BARE), a synthetic data generation method that combines the diversity of base models with the quality of instruct-tuned models through a two-stage process. With minimal few-shot examples and curation, BARE generates diverse and high-quality datasets, improving downstream task performance. We show that fine-tuning with as few as 1,000 BARE-generated samples can reach performance comparable to the best similarly sized models on LiveCodeBench tasks. Furthermore, fine-tuning with BARE-generated data achieves a 101% improvement over instruct-only data on GSM8K and a 18.4% improvement over SOTA methods on RAFT.

Text-to-3D (T23D) generation has transformed digital content creation, yet remains bottlenecked by blind trial-and-error prompting processes that yield unpredictable results. While visual prompt engineering has advanced in text-to-image domains, its application to 3D generation presents unique challenges requiring multi-view consistency evaluation and spatial understanding. We present Sel3DCraft, a visual prompt engineering system for T23D that transforms unstructured exploration into a guided visual process. Our approach introduces three key innovations: a dual-branch structure combining retrieval and generation for diverse candidate exploration; a multi-view hybrid scoring approach that leverages MLLMs with innovative high-level metrics to assess 3D models with human-expert consistency; and a prompt-driven visual analytics suite that enables intuitive defect identification and refinement. Extensive testing and user studies demonstrate that Sel3DCraft surpasses other T23D systems in supporting creativity for designers.

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot behavior, VLMs struggle to precisely articulate robot actions using language. We introduce an automatic synthetic data generation pipeline that instruction-tunes VLMs to robotic domains and needs. Using the pipeline, we train RoboPoint, a VLM that predicts image keypoint affordances given language instructions. Compared to alternative approaches, our method requires no real-world data collection or human demonstration, making it much more scalable to diverse environments and viewpoints. In addition, RoboPoint is a general model that enables several downstream applications such as robot navigation, manipulation, and augmented reality (AR) assistance. Our experiments demonstrate that RoboPoint outperforms state-of-the-art VLMs (GPT-4o) and visual prompting techniques (PIVOT) by 21.8% in the accuracy of predicting spatial affordance and by 30.5% in the success rate of downstream tasks. Project website: https://robo-point.github.io.

We introduce a novel, general-purpose audio generation framework specifically designed for anomaly detection and localization. Unlike existing datasets that predominantly focus on industrial and machine-related sounds, our framework focuses a broader range of environments, particularly useful in real-world scenarios where only audio data are available, such as in video-derived or telephonic audio. To generate such data, we propose a new method inspired by the LLM-Modulo framework, which leverages large language models(LLMs) as world models to simulate such real-world scenarios. This tool is modular allowing a plug-and-play approach. It operates by first using LLMs to predict plausible real-world scenarios. An LLM further extracts the constituent sounds, the order and the way in which these should be merged to create coherent wholes. Much like the LLM-Modulo framework, we include rigorous verification of each output stage, ensuring the reliability of the generated data. The data produced using the framework serves as a benchmark for anomaly detection applications, potentially enhancing the performance of models trained on audio data, particularly in handling out-of-distribution cases. Our contributions thus fill a critical void in audio anomaly detection resources and provide a scalable tool for generating diverse, realistic audio data.

One of the key impediments for developing and assessing robust medical imaging algorithms is limited access to large-scale datasets with suitable annotations. Synthetic data generated with plausible physical and biological constraints may address some of these data limitations. We propose the use of physics simulations to generate synthetic images with pixel-level segmentation annotations, which are notoriously difficult to obtain. Specifically, we apply this approach to breast imaging analysis and release T-SYNTH, a large-scale open-source dataset of paired 2D digital mammography (DM) and 3D digital breast tomosynthesis (DBT) images. Our initial experimental results indicate that T-SYNTH images show promise for augmenting limited real patient datasets for detection tasks in DM and DBT. Our data and code are publicly available at https://github.com/DIDSR/tsynth-release.

In engineering design, navigating complex decision-making landscapes demands a thorough exploration of the design, performance, and constraint spaces, often impeded by resource-intensive simulations. Data-driven methods can mitigate this challenge by harnessing historical data to delineate feasible domains, accelerate optimization, or evaluate designs. However, the implementation of these methods usually demands machine-learning expertise and multiple trials to choose the right method and hyperparameters. This makes them less accessible for numerous engineering situations. Additionally, there is an inherent trade-off between training speed and accuracy, with faster methods sometimes compromising precision. In our paper, we demonstrate that a recently released general-purpose transformer-based classification model, TabPFN, is both fast and accurate. Notably, it requires no dataset-specific training to assess new tabular data. TabPFN is a Prior-Data Fitted Network, which undergoes a one-time offline training across a broad spectrum of synthetic datasets and performs in-context learning. We evaluated TabPFN's efficacy across eight engineering design classification problems, contrasting it with seven other algorithms, including a state-of-the-art AutoML method. For these classification challenges, TabPFN consistently outperforms in speed and accuracy. It is also the most data-efficient and provides the added advantage of being differentiable and giving uncertainty estimates. Our findings advocate for the potential of pre-trained models that learn from synthetic data and require no domain-specific tuning to make data-driven engineering design accessible to a broader community and open ways to efficient general-purpose models valid across applications. Furthermore, we share a benchmark problem set for evaluating new classification algorithms in engineering design.

In recent years, the potential applications of machine learning to Minimally Invasive Surgery (MIS) have spurred interest in data sets that can be used to develop data-driven tools. This paper introduces a novel dataset recorded during ex vivo pseudo-cholecystectomy procedures on pig livers, utilizing the da Vinci Research Kit (dVRK). Unlike current datasets, ours bridges a critical gap by offering not only full kinematic data but also capturing all pedal inputs used during the procedure and providing a time-stamped record of the endoscope's movements. Contributed by seven surgeons, this data set introduces a new dimension to surgical robotics research, allowing the creation of advanced models for automating console functionalities. Our work addresses the existing limitation of incomplete recordings and imprecise kinematic data, common in other datasets. By introducing two models, dedicated to predicting clutch usage and camera activation, we highlight the dataset's potential for advancing automation in surgical robotics. The comparison of methodologies and time windows provides insights into the models' boundaries and limitations.

In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and real-world-aligned evaluation benchmarks severely limits such development. To address this, we introduce RoboTwin, a generative digital twin framework that uses 3D generative foundation models and large language models to produce diverse expert datasets and provide a real-world-aligned evaluation platform for dual-arm robotic tasks. Specifically, RoboTwin creates varied digital twins of objects from single 2D images, generating realistic and interactive scenarios. It also introduces a spatial relation-aware code generation framework that combines object annotations with large language models to break down tasks, determine spatial constraints, and generate precise robotic movement code. Our framework offers a comprehensive benchmark with both simulated and real-world data, enabling standardized evaluation and better alignment between simulated training and real-world performance. We validated our approach using the open-source COBOT Magic Robot platform. Policies pre-trained on RoboTwin-generated data and fine-tuned with limited real-world samples demonstrate significant potential for enhancing dual-arm robotic manipulation systems by improving success rates by over 70% for single-arm tasks and over 40% for dual-arm tasks compared to models trained solely on real-world data.

This paper introduces a generative model designed for multimodal control over text-to-image foundation generative AI models such as Stable Diffusion, specifically tailored for engineering design synthesis. Our model proposes parametric, image, and text control modalities to enhance design precision and diversity. Firstly, it handles both partial and complete parametric inputs using a diffusion model that acts as a design autocomplete co-pilot, coupled with a parametric encoder to process the information. Secondly, the model utilizes assembly graphs to systematically assemble input component images, which are then processed through a component encoder to capture essential visual data. Thirdly, textual descriptions are integrated via CLIP encoding, ensuring a comprehensive interpretation of design intent. These diverse inputs are synthesized through a multimodal fusion technique, creating a joint embedding that acts as the input to a module inspired by ControlNet. This integration allows the model to apply robust multimodal control to foundation models, facilitating the generation of complex and precise engineering designs. This approach broadens the capabilities of AI-driven design tools and demonstrates significant advancements in precise control based on diverse data modalities for enhanced design generation.

The removal of non-brain signal from magnetic resonance imaging (MRI) data, known as skull-stripping, is an integral component of many neuroimage analysis streams. Despite their abundance, popular classical skull-stripping methods are usually tailored to images with specific acquisition properties, namely near-isotropic resolution and T1-weighted (T1w) MRI contrast, which are prevalent in research settings. As a result, existing tools tend to adapt poorly to other image types, such as stacks of thick slices acquired with fast spin-echo (FSE) MRI that are common in the clinic. While learning-based approaches for brain extraction have gained traction in recent years, these methods face a similar burden, as they are only effective for image types seen during the training procedure. To achieve robust skull-stripping across a landscape of imaging protocols, we introduce SynthStrip, a rapid, learning-based brain-extraction tool. By leveraging anatomical segmentations to generate an entirely synthetic training dataset with anatomies, intensity distributions, and artifacts that far exceed the realistic range of medical images, SynthStrip learns to successfully generalize to a variety of real acquired brain images, removing the need for training data with target contrasts. We demonstrate the efficacy of SynthStrip for a diverse set of image acquisitions and resolutions across subject populations, ranging from newborn to adult. We show substantial improvements in accuracy over popular skull-stripping baselines -- all with a single trained model. Our method and labeled evaluation data are available at https://w3id.org/synthstrip.

In this paper, we push the boundaries of fine-grained 3D generation into truly creative territory. Current methods either lack intricate details or simply mimic existing objects -- we enable both. By lifting 2D fine-grained understanding into 3D through multi-view diffusion and modeling part latents as continuous distributions, we unlock the ability to generate entirely new, yet plausible parts through interpolation and sampling. A self-supervised feature consistency loss further ensures stable generation of these unseen parts. The result is the first system capable of creating novel 3D objects with species-specific details that transcend existing examples. While we demonstrate our approach on birds, the underlying framework extends beyond things that can chirp! Code will be released at https://github.com/kamwoh/chirpy3d.

Toward infinite-scale 3D city synthesis, we propose a novel framework, InfiniCity, which constructs and renders an unconstrainedly large and 3D-grounded environment from random noises. InfiniCity decomposes the seemingly impractical task into three feasible modules, taking advantage of both 2D and 3D data. First, an infinite-pixel image synthesis module generates arbitrary-scale 2D maps from the bird's-eye view. Next, an octree-based voxel completion module lifts the generated 2D map to 3D octrees. Finally, a voxel-based neural rendering module texturizes the voxels and renders 2D images. InfiniCity can thus synthesize arbitrary-scale and traversable 3D city environments, and allow flexible and interactive editing from users. We quantitatively and qualitatively demonstrate the efficacy of the proposed framework. Project page: https://hubert0527.github.io/infinicity/

Recent advances in language model (LM) agents and function calling have enabled autonomous, feedback-driven systems to solve problems across various digital domains. To better understand the unique limitations of LM agents, we introduce RefactorBench, a benchmark consisting of 100 large handcrafted multi-file refactoring tasks in popular open-source repositories. Solving tasks within RefactorBench requires thorough exploration of dependencies across multiple files and strong adherence to relevant instructions. Every task is defined by 3 natural language instructions of varying specificity and is mutually exclusive, allowing for the creation of longer combined tasks on the same repository. Baselines on RefactorBench reveal that current LM agents struggle with simple compositional tasks, solving only 22% of tasks with base instructions, in contrast to a human developer with short time constraints solving 87%. Through trajectory analysis, we identify various unique failure modes of LM agents, and further explore the failure mode of tracking past actions. By adapting a baseline agent to condition on representations of state, we achieve a 43.9% improvement in solving RefactorBench tasks. We further extend our state-aware approach to encompass entire digital environments and outline potential directions for future research. RefactorBench aims to support the study of LM agents by providing a set of real-world, multi-hop tasks within the realm of code.

Text-to-3D synthesis has recently seen intriguing advances by combining the text-to-image models with 3D representation methods, e.g., Gaussian Splatting (GS), via Score Distillation Sampling (SDS). However, a hurdle of existing methods is the low efficiency, per-prompt optimization for a single 3D object. Therefore, it is imperative for a paradigm shift from per-prompt optimization to one-stage generation for any unseen text prompts, which yet remains challenging. A hurdle is how to directly generate a set of millions of 3D Gaussians to represent a 3D object. This paper presents BrightDreamer, an end-to-end single-stage approach that can achieve generalizable and fast (77 ms) text-to-3D generation. Our key idea is to formulate the generation process as estimating the 3D deformation from an anchor shape with predefined positions. For this, we first propose a Text-guided Shape Deformation (TSD) network to predict the deformed shape and its new positions, used as the centers (one attribute) of 3D Gaussians. To estimate the other four attributes (i.e., scaling, rotation, opacity, and SH coefficient), we then design a novel Text-guided Triplane Generator (TTG) to generate a triplane representation for a 3D object. The center of each Gaussian enables us to transform the triplane feature into the four attributes. The generated 3D Gaussians can be finally rendered at 705 frames per second. Extensive experiments demonstrate the superiority of our method over existing methods. Also, BrightDreamer possesses a strong semantic understanding capability even for complex text prompts. The project code is available at https://vlislab22.github.io/BrightDreamer.

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may not suit the preferences of a particular customer. Moreover, such a system consists of multi-objective tasks comprising -- (i) Detection of misplaced objects and prediction of their potentially correct placements, (ii) Fine-grained manipulation for stable object grasping, and (iii) Room-to-room navigation for transferring objects in unseen environments. This work systematically tackles each component and integrates them into a complete object rearrangement pipeline. To validate our proposed system, we conduct multiple experiments on a real robotic platform involving multi-room object transfer, user preference-based placement, and complex pick-and-place tasks. Project page: https://sites.google.com/eng.ucsd.edu/home-robot

We introduce KodCode, a synthetic dataset that addresses the persistent challenge of acquiring high-quality, verifiable training data across diverse difficulties and domains for training Large Language Models for coding. Existing code-focused resources typically fail to ensure either the breadth of coverage (e.g., spanning simple coding tasks to advanced algorithmic problems) or verifiable correctness (e.g., unit tests). In contrast, KodCode comprises question-solution-test triplets that are systematically validated via a self-verification procedure. Our pipeline begins by synthesizing a broad range of coding questions, then generates solutions and test cases with additional attempts allocated to challenging problems. Finally, post-training data synthesis is done by rewriting questions into diverse formats and generating responses under a test-based reject sampling procedure from a reasoning model (DeepSeek R1). This pipeline yields a large-scale, robust and diverse coding dataset. KodCode is suitable for supervised fine-tuning and the paired unit tests also provide great potential for RL tuning. Fine-tuning experiments on coding benchmarks (HumanEval(+), MBPP(+), BigCodeBench, and LiveCodeBench) demonstrate that KodCode-tuned models achieve state-of-the-art performance, surpassing models like Qwen2.5-Coder-32B-Instruct and DeepSeek-R1-Distill-Llama-70B.

The industry is rich in cases when we are required to make forecasting for large amounts of time series at once. However, we might be in a situation where we can not afford to train a separate model for each of them. Such issue in time series modeling remains without due attention. The remedy for this setting is the establishment of a foundation model. Such a model is expected to work in zero-shot and few-shot regimes. However, what should we take as a training dataset for such kind of model? Witnessing the benefits from the enrichment of NLP datasets with artificially-generated data, we might want to adopt their experience for time series. In contrast to natural language, the process of generation of synthetic time series data is even more favorable because it provides full control of series patterns, time horizons, and number of samples. In this work, we consider the essential question if it is advantageous to train a foundation model on synthetic data or it is better to utilize only a limited number of real-life examples. Our experiments are conducted only for regular time series and speak in favor of leveraging solely the real time series. Moreover, the choice of the proper source dataset strongly influences the performance during inference. When provided access even to a limited quantity of short time series data, employing it within a supervised framework yields more favorable results than training on a larger volume of synthetic data. The code for our experiments is publicly available on Github https://github.com/sb-ai-lab/synthesize_or_not.

Many engineering organizations are reimplementing and extending deep neural networks from the research community. We describe this process as deep learning model reengineering. Deep learning model reengineering - reusing, reproducing, adapting, and enhancing state-of-the-art deep learning approaches - is challenging for reasons including under-documented reference models, changing requirements, and the cost of implementation and testing. In addition, individual engineers may lack expertise in software engineering, yet teams must apply knowledge of software engineering and deep learning to succeed. Prior work has examined on DL systems from a "product" view, examining defects from projects regardless of the engineers' purpose. Our study is focused on reengineering activities from a "process" view, and focuses on engineers specifically engaged in the reengineering process. Our goal is to understand the characteristics and challenges of deep learning model reengineering. We conducted a case study of this phenomenon, focusing on the context of computer vision. Our results draw from two data sources: defects reported in open-source reeengineering projects, and interviews conducted with open-source project contributors and the leaders of a reengineering team. Our results describe how deep learning-based computer vision techniques are reengineered, analyze the distribution of defects in this process, and discuss challenges and practices. Integrating our quantitative and qualitative data, we proposed a novel reengineering workflow. Our findings inform several future directions, including: measuring additional unknown aspects of model reengineering; standardizing engineering practices to facilitate reengineering; and developing tools to support model reengineering and model reuse.

This paper explores the limits of the current generation of large language models for program synthesis in general purpose programming languages. We evaluate a collection of such models (with between 244M and 137B parameters) on two new benchmarks, MBPP and MathQA-Python, in both the few-shot and fine-tuning regimes. Our benchmarks are designed to measure the ability of these models to synthesize short Python programs from natural language descriptions. The Mostly Basic Programming Problems (MBPP) dataset contains 974 programming tasks, designed to be solvable by entry-level programmers. The MathQA-Python dataset, a Python version of the MathQA benchmark, contains 23914 problems that evaluate the ability of the models to synthesize code from more complex text. On both datasets, we find that synthesis performance scales log-linearly with model size. Our largest models, even without finetuning on a code dataset, can synthesize solutions to 59.6 percent of the problems from MBPP using few-shot learning with a well-designed prompt. Fine-tuning on a held-out portion of the dataset improves performance by about 10 percentage points across most model sizes. On the MathQA-Python dataset, the largest fine-tuned model achieves 83.8 percent accuracy. Going further, we study the model's ability to engage in dialog about code, incorporating human feedback to improve its solutions. We find that natural language feedback from a human halves the error rate compared to the model's initial prediction. Additionally, we conduct an error analysis to shed light on where these models fall short and what types of programs are most difficult to generate. Finally, we explore the semantic grounding of these models by fine-tuning them to predict the results of program execution. We find that even our best models are generally unable to predict the output of a program given a specific input.

As synthetic data becomes higher quality and proliferates on the internet, machine learning models are increasingly trained on a mix of human- and machine-generated data. Despite the successful stories of using synthetic data for representation learning, using synthetic data for generative model training creates "self-consuming loops" which may lead to training instability or even collapse, unless certain conditions are met. Our paper aims to stabilize self-consuming generative model training. Our theoretical results demonstrate that by introducing an idealized correction function, which maps a data point to be more likely under the true data distribution, self-consuming loops can be made exponentially more stable. We then propose self-correction functions, which rely on expert knowledge (e.g. the laws of physics programmed in a simulator), and aim to approximate the idealized corrector automatically and at scale. We empirically validate the effectiveness of self-correcting self-consuming loops on the challenging human motion synthesis task, and observe that it successfully avoids model collapse, even when the ratio of synthetic data to real data is as high as 100%.

We introduce VoiceCraft, a token infilling neural codec language model, that achieves state-of-the-art performance on both speech editing and zero-shot text-to-speech (TTS) on audiobooks, internet videos, and podcasts. VoiceCraft employs a Transformer decoder architecture and introduces a token rearrangement procedure that combines causal masking and delayed stacking to enable generation within an existing sequence. On speech editing tasks, VoiceCraft produces edited speech that is nearly indistinguishable from unedited recordings in terms of naturalness, as evaluated by humans; for zero-shot TTS, our model outperforms prior SotA models including VALLE and the popular commercial model XTTS-v2. Crucially, the models are evaluated on challenging and realistic datasets, that consist of diverse accents, speaking styles, recording conditions, and background noise and music, and our model performs consistently well compared to other models and real recordings. In particular, for speech editing evaluation, we introduce a high quality, challenging, and realistic dataset named RealEdit. We encourage readers to listen to the demos at https://jasonppy.github.io/VoiceCraft_web.

Realistic digital garment modeling remains a labor-intensive task due to the intricate process of translating 2D sewing patterns into high-fidelity, simulation-ready 3D garments. We introduce GarmageNet, a unified generative framework that automates the creation of 2D sewing patterns, the construction of sewing relationships, and the synthesis of 3D garment initializations compatible with physics-based simulation. Central to our approach is Garmage, a novel garment representation that encodes each panel as a structured geometry image, effectively bridging the semantic and geometric gap between 2D structural patterns and 3D garment shapes. GarmageNet employs a latent diffusion transformer to synthesize panel-wise geometry images and integrates GarmageJigsaw, a neural module for predicting point-to-point sewing connections along panel contours. To support training and evaluation, we build GarmageSet, a large-scale dataset comprising over 10,000 professionally designed garments with detailed structural and style annotations. Our method demonstrates versatility and efficacy across multiple application scenarios, including scalable garment generation from multi-modal design concepts (text prompts, sketches, photographs), automatic modeling from raw flat sewing patterns, pattern recovery from unstructured point clouds, and progressive garment editing using conventional instructions-laying the foundation for fully automated, production-ready pipelines in digital fashion. Project page: https://style3d.github.io/garmagenet.

Recent advances in text-to-music editing, which employ text queries to modify music (e.g.\ by changing its style or adjusting instrumental components), present unique challenges and opportunities for AI-assisted music creation. Previous approaches in this domain have been constrained by the necessity to train specific editing models from scratch, which is both resource-intensive and inefficient; other research uses large language models to predict edited music, resulting in imprecise audio reconstruction. To Combine the strengths and address these limitations, we introduce Instruct-MusicGen, a novel approach that finetunes a pretrained MusicGen model to efficiently follow editing instructions such as adding, removing, or separating stems. Our approach involves a modification of the original MusicGen architecture by incorporating a text fusion module and an audio fusion module, which allow the model to process instruction texts and audio inputs concurrently and yield the desired edited music. Remarkably, Instruct-MusicGen only introduces 8% new parameters to the original MusicGen model and only trains for 5K steps, yet it achieves superior performance across all tasks compared to existing baselines, and demonstrates performance comparable to the models trained for specific tasks. This advancement not only enhances the efficiency of text-to-music editing but also broadens the applicability of music language models in dynamic music production environments.

A hallmark of human intelligence is the ability to create complex artifacts through structured multi-step processes. Generating procedural tutorials with AI is a longstanding but challenging goal, facing three key obstacles: (1) scarcity of multi-task procedural datasets, (2) maintaining logical continuity and visual consistency between steps, and (3) generalizing across multiple domains. To address these challenges, we propose a multi-domain dataset covering 21 tasks with over 24,000 procedural sequences. Building upon this foundation, we introduce MakeAnything, a framework based on the diffusion transformer (DIT), which leverages fine-tuning to activate the in-context capabilities of DIT for generating consistent procedural sequences. We introduce asymmetric low-rank adaptation (LoRA) for image generation, which balances generalization capabilities and task-specific performance by freezing encoder parameters while adaptively tuning decoder layers. Additionally, our ReCraft model enables image-to-process generation through spatiotemporal consistency constraints, allowing static images to be decomposed into plausible creation sequences. Extensive experiments demonstrate that MakeAnything surpasses existing methods, setting new performance benchmarks for procedural generation tasks.

Machine learning as a discipline has seen an incredible surge of interest in recent years due in large part to a perfect storm of new theory, superior tooling, renewed interest in its capabilities. We present in this paper a framework named Flux that shows how further refinement of the core ideas of machine learning, built upon the foundation of the Julia programming language, can yield an environment that is simple, easily modifiable, and performant. We detail the fundamental principles of Flux as a framework for differentiable programming, give examples of models that are implemented within Flux to display many of the language and framework-level features that contribute to its ease of use and high productivity, display internal compiler techniques used to enable the acceleration and performance that lies at the heart of Flux, and finally give an overview of the larger ecosystem that Flux fits inside of.

A text-to-speech synthesis system typically consists of multiple stages, such as a text analysis frontend, an acoustic model and an audio synthesis module. Building these components often requires extensive domain expertise and may contain brittle design choices. In this paper, we present Tacotron, an end-to-end generative text-to-speech model that synthesizes speech directly from characters. Given <text, audio> pairs, the model can be trained completely from scratch with random initialization. We present several key techniques to make the sequence-to-sequence framework perform well for this challenging task. Tacotron achieves a 3.82 subjective 5-scale mean opinion score on US English, outperforming a production parametric system in terms of naturalness. In addition, since Tacotron generates speech at the frame level, it's substantially faster than sample-level autoregressive methods.

With generative AI advances, the exciting potential for autonomous agents to manage daily tasks via natural language commands has emerged. However, cur rent agents are primarily created and tested in simplified synthetic environments, substantially limiting real-world scenario representation. In this paper, we build an environment for agent command and control that is highly realistic and reproducible. Specifically, we focus on agents that perform tasks on websites, and we create an environment with fully functional websites from four common domains: e-commerce, social forum discussions, collaborative software development, and content management. Our environment is enriched with tools (e.g., a map) and external knowledge bases (e.g., user manuals) to encourage human-like task-solving. Building upon our environment, we release a set of benchmark tasks focusing on evaluating the functional correctness of task completions. The tasks in our benchmark are diverse, long-horizon, and are designed to emulate tasks that humans routinely perform on the internet. We design and implement several autonomous agents, integrating recent techniques such as reasoning before acting. The results demonstrate that solving complex tasks is challenging: our best GPT-4-based agent only achieves an end-to-end task success rate of 10.59%. These results highlight the need for further development of robust agents, that current state-of-the-art LMs are far from perfect performance in these real-life tasks, and that WebArena can be used to measure such progress. Our code, data, environment reproduction resources, and video demonstrations are publicly available at https://webarena.dev/.

Human hands possess the dexterity to interact with diverse objects such as grasping specific parts of the objects and/or approaching them from desired directions. More importantly, humans can grasp objects of any shape without object-specific skills. Recent works synthesize grasping motions following single objectives such as a desired approach heading direction or a grasping area. Moreover, they usually rely on expensive 3D hand-object data during training and inference, which limits their capability to synthesize grasping motions for unseen objects at scale. In this paper, we unify the generation of hand-object grasping motions across multiple motion objectives, diverse object shapes and dexterous hand morphologies in a policy learning framework GraspXL. The objectives are composed of the graspable area, heading direction during approach, wrist rotation, and hand position. Without requiring any 3D hand-object interaction data, our policy trained with 58 objects can robustly synthesize diverse grasping motions for more than 500k unseen objects with a success rate of 82.2%. At the same time, the policy adheres to objectives, which enables the generation of diverse grasps per object. Moreover, we show that our framework can be deployed to different dexterous hands and work with reconstructed or generated objects. We quantitatively and qualitatively evaluate our method to show the efficacy of our approach. Our model, code, and the large-scale generated motions are available at https://eth-ait.github.io/graspxl/.

We present a novel approach named OmniControl for incorporating flexible spatial control signals into a text-conditioned human motion generation model based on the diffusion process. Unlike previous methods that can only control the pelvis trajectory, OmniControl can incorporate flexible spatial control signals over different joints at different times with only one model. Specifically, we propose analytic spatial guidance that ensures the generated motion can tightly conform to the input control signals. At the same time, realism guidance is introduced to refine all the joints to generate more coherent motion. Both the spatial and realism guidance are essential and they are highly complementary for balancing control accuracy and motion realism. By combining them, OmniControl generates motions that are realistic, coherent, and consistent with the spatial constraints. Experiments on HumanML3D and KIT-ML datasets show that OmniControl not only achieves significant improvement over state-of-the-art methods on pelvis control but also shows promising results when incorporating the constraints over other joints.

Dexterous manipulation has been a long-standing challenge in robotics. While machine learning techniques have shown some promise, results have largely been currently limited to simulation. This can be mostly attributed to the lack of suitable hardware. In this paper, we present LEAP Hand, a low-cost dexterous and anthropomorphic hand for machine learning research. In contrast to previous hands, LEAP Hand has a novel kinematic structure that allows maximal dexterity regardless of finger pose. LEAP Hand is low-cost and can be assembled in 4 hours at a cost of 2000 USD from readily available parts. It is capable of consistently exerting large torques over long durations of time. We show that LEAP Hand can be used to perform several manipulation tasks in the real world -- from visual teleoperation to learning from passive video data and sim2real. LEAP Hand significantly outperforms its closest competitor Allegro Hand in all our experiments while being 1/8th of the cost. We release detailed assembly instructions, the Sim2Real pipeline and a development platform with useful APIs on our website at https://leap-hand.github.io/

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret abstract instructions and translate them into executable actions. In this paper, we present Manual2Skill, a novel framework that enables robots to perform complex assembly tasks guided by high-level manual instructions. Our approach leverages a Vision-Language Model (VLM) to extract structured information from instructional images and then uses this information to construct hierarchical assembly graphs. These graphs represent parts, subassemblies, and the relationships between them. To facilitate task execution, a pose estimation model predicts the relative 6D poses of components at each assembly step. At the same time, a motion planning module generates actionable sequences for real-world robotic implementation. We demonstrate the effectiveness of Manual2Skill by successfully assembling several real-world IKEA furniture items. This application highlights its ability to manage long-horizon manipulation tasks with both efficiency and precision, significantly enhancing the practicality of robot learning from instruction manuals. This work marks a step forward in advancing robotic systems capable of understanding and executing complex manipulation tasks in a manner akin to human capabilities.

Simulation plays a crucial role in the development of autonomous vehicles (AVs) due to the potential risks associated with real-world testing. Although significant progress has been made in the visual aspects of simulators, generating complex behavior among agents remains a formidable challenge. It is not only imperative to ensure realism in the scenarios generated but also essential to incorporate preferences and conditions to facilitate controllable generation for AV training and evaluation. Traditional methods, mainly relying on memorizing the distribution of training datasets, often fall short in generating unseen scenarios. Inspired by the success of retrieval augmented generation in large language models, we present RealGen, a novel retrieval-based in-context learning framework for traffic scenario generation. RealGen synthesizes new scenarios by combining behaviors from multiple retrieved examples in a gradient-free way, which may originate from templates or tagged scenarios. This in-context learning framework endows versatile generative capabilities, including the ability to edit scenarios, compose various behaviors, and produce critical scenarios. Evaluations show that RealGen offers considerable flexibility and controllability, marking a new direction in the field of controllable traffic scenario generation. Check our project website for more information: https://realgen.github.io.

Cluster analysis relies on effective benchmarks for evaluating and comparing different algorithms. Simulation studies on synthetic data are popular because important features of the data sets, such as the overlap between clusters, or the variation in cluster shapes, can be effectively varied. Unfortunately, creating evaluation scenarios is often laborious, as practitioners must translate higher-level scenario descriptions like "clusters with very different shapes" into lower-level geometric parameters such as cluster centers, covariance matrices, etc. To make benchmarks more convenient and informative, we propose synthetic data generation based on direct specification of high-level scenarios, either through verbal descriptions or high-level geometric parameters. Our open-source Python package repliclust implements this workflow, making it easy to set up interpretable and reproducible benchmarks for cluster analysis. A demo of data generation from verbal inputs is available at https://demo.repliclust.org.

The field of image synthesis has made tremendous strides forward in the last years. Besides defining the desired output image with text-prompts, an intuitive approach is to additionally use spatial guidance in form of an image, such as a depth map. For this, a recent and highly popular approach is to use a controlling network, such as ControlNet, in combination with a pre-trained image generation model, such as Stable Diffusion. When evaluating the design of existing controlling networks, we observe that they all suffer from the same problem of a delay in information flowing between the generation and controlling process. This, in turn, means that the controlling network must have generative capabilities. In this work we propose a new controlling architecture, called ControlNet-XS, which does not suffer from this problem, and hence can focus on the given task of learning to control. In contrast to ControlNet, our model needs only a fraction of parameters, and hence is about twice as fast during inference and training time. Furthermore, the generated images are of higher quality and the control is of higher fidelity. All code and pre-trained models will be made publicly available.

Autonomous wire harness assembly requires robots to manipulate complex branched cables with high precision and reliability. A key challenge in automating this process is predicting how these flexible and branched structures behave under manipulation. Without accurate predictions, it is difficult for robots to reliably plan or execute assembly operations. While existing research has made progress in modeling single-threaded Deformable Linear Objects (DLOs), extending these approaches to Branched Deformable Linear Objects (BDLOs) presents fundamental challenges. The junction points in BDLOs create complex force interactions and strain propagation patterns that cannot be adequately captured by simply connecting multiple single-DLO models. To address these challenges, this paper presents Differentiable discrete branched Elastic rods for modeling Furcated DLOs in real-Time (DEFT), a novel framework that combines a differentiable physics-based model with a learning framework to: 1) accurately model BDLO dynamics, including dynamic propagation at junction points and grasping in the middle of a BDLO, 2) achieve efficient computation for real-time inference, and 3) enable planning to demonstrate dexterous BDLO manipulation. A comprehensive series of real-world experiments demonstrates DEFT's efficacy in terms of accuracy, computational speed, and generalizability compared to state-of-the-art alternatives. Project page:https://roahmlab.github.io/DEFT/.