As 3D software proliferates, software artifacts now extend beyond code and 2D user interfaces to include 3D assets. Among these assets, collision meshes are critical as they define the geometry used by physics engines for collision detection and physical interaction. Although existing tools can automatically generate collision meshes from visual meshes, they often fail to capture the intended interaction behavior. As a result, developers need to manually edit many heterogeneous collision meshes, a process that is time-consuming and challenging to scale. To address this problem, we present a neuro-symbolic program synthesis approach for batch-editing collision meshes. We formulate the task as a programming-by-example problem: given a family of collision meshes with the same editing intent and a small number of user demonstrations, our approach synthesizes a reusable program that captures the editing intent and applies it to non-demonstration meshes. We implement this in a tool named MeshForge, and evaluate it across 24 tasks on 600 collision meshes. MeshForge successfully synthesizes 23/24 tasks, requiring 2.2 demonstrations and 3.5 seconds of synthesis time on average.
Vision-language-action models (VLAs), which leverage the cognition of multimodal information to infer physical-world actions, provide a generalized solution for embodied AI applications. Conventional VLAs usually concentrate on current digital cognition. While some efforts are made to enhance VLAs'reasoning capabilities by capturing temporal information, encoding the long-context history causes an efficiency-decreasing issue. To reconcile the conflict between capturing temporal information and maintaining inference efficiency in VLAs, this paper introduces FibVLA, an efficient framework featuring temporal perception of long-context history. Specifically, we leverage logarithmic hindsight sampling to both proprioceptive states and visual frames to capture long-term temporal dependencies with minimal redundancy. For the action expert, we introduce the flow matching to produce action distributions, and the Fibonacci recurrent inference strategy to generate long-range planning steps based on real-time closed-loop feedback. Experiments demonstrate that FibVLA significantly improves action smoothness and success rates without retraining large-scale visual encoders. Efficiency analysis demonstrates superior real-time responsiveness compared to video-based baselines in real-world evaluations.
Li Lin, Wujun Xu, Wei Meng et al.· arXiv.org· 1 citation
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