Generative Flow on Symbolic Abstractions for Embodiment Capa

Code2Worlds-2 is an extension of Code2Worlds that transforms 4D world generation into an embodied simulation by adding a SimReady Scene Compiler and a Simulator-in-the-Loop 4D Refiner. These modules enable the generation of physically plausible, simulator-compatible, and robot-interactable scenes through physics-aware scene compilation and simulation refinement.

This research proposes FOSA, a framework that discovers embodiment-specific capabilities by learning a grounded task generator. FOS, a Generative Flow Network, constructs symbolic task skeletons which are compiled into simulation environments. Low-level policy performance provides reward signals for abstract policies, enabling the discovery of diverse and executable tasks across heterogeneous platforms. The code and demonstration videos are available at the provided link.