Geometrically faithful and functional articulated 3D assets are essential for real-to-sim robot manipulation, where policies trained in simulation must transfer to physical objects. Recent mesh-based methods learn to infer articulation from annotated 3D assets, but deployment remains challenging when real-world objects …
Vision language model (VLM) agents can control robots through visual feedback and action primitives, but repeated model invocations and redundant observations incur substantial token overhead. We introduce PyRUA-Lean, an interactive code-execution framework that couples feedback-driven primitive composition with select …
High-resolution video generation is expensive, as its cost grows rapidly with the number of spatiotemporal tokens. A practical alternative first generates a lower-resolution video and then applies a refiner, but conventional multi-step refinement introduces a second sampling bottleneck. We present SoL-Refiner, a one-st …