论文检索

Applications · Physics

Yuting Hu, Tarek Mohamed, Chenhui Xu, Hua Xiang, Hussam Amrouch, Gi-Joon Nam, Jinjun Xiong

Signal integrity issues present significant challenges in modern integrated circuit (IC) design, as crosstalk-induced delay variation and transient glitches caused by capacitive coupling among interconnects can severely impact IC functional correctness. Although circuit simulators like SPICE can deliver accurate signal integrity analysis, their computational cost becomes prohibitive for large-scale designs. In this paper, we propose Si-GT, a novel transformer-based model for fast and accurate signal integrity analysis in IC interconnects. Our model elaborates three key designs: (1) virtual NET token to encode net-specific signal characteristics and serve as net-wise representation, (2) mesh pattern encoding to embed high-order mesh structures at each node while distinguishing uncoupled wire segments, and (3) intra-inter net (IIN) attention mechanism to capture structures of signal propagation path and coupling connections. To support model training and evaluation, we construct the first interconnect signal integrity dataset comprising 200k delay examples and 187k glitch examples using SPICE simulations as the golden reference. Our experiments show that our Si-GT surpasses state-of-the-art graph neural network and graph transformer baselines with substantially reduced computation compared to SPICE, offering a scalable and effective solution for interconnect signal integrity analysis in IC design verification. We release the code, model, and datasets at https://github.com/xlab-ub/Si-GT.

Computer Vision · Image and Video Generation

Yongyuan Liang, Wei Chow, Feng Li, Ziqiao Ma, Xiyao Wang, Jiageng Mao, Jiuhai Chen, Jiatao Gu, Yue Wang, Furong Huang

Unified multimodal models (UMMs) have emerged as a powerful paradigm for seamlessly unifying text and image understanding and generation. However, prevailing evaluations treat these abilities in isolation, such that tasks with multimodal inputs and outputs are scored primarily through unimodal reasoning, i.e., textual benchmarks emphasize language-based reasoning, while visual benchmarks emphasize reasoning outcomes manifested in the pixels. We introduce ROVER to address this pressing need to test reciprocal cross-modal reasoning, the use of one modality to guide, verify, or refine outputs in the other, an ability central to the vision of unified multimodal intelligence. ROVER is a human-annotated benchmark that explicitly targets reciprocal cross-modal reasoning, which contains 1,312 tasks grounded in 1,876 images, spanning two complementary settings. Verbally-augmented reasoning for visual generation evaluates whether models can use verbal prompts and reasoning chains to guide faithful image synthesis. Visually-augmented reasoning for verbal generation evaluates whether models can generate intermediate visualizations that strengthen their own reasoning processes for question answering. Experiments on 17 unified models reveal two key findings: (i) Cross-modal reasoning determines visual generation quality, with interleaved models significantly outperforming non-interleaved ones; notably, combining strong unimodal models fails to achieve comparable reasoning. (ii) Models show dissociation between physical and symbolic reasoning: they succeed at interpreting perceptual concepts literally but fail to construct visual abstractions for symbolic tasks, where faulty reasoning harms performance. These results highlight reciprocal cross-modal reasoning as a critical frontier for enabling true omnimodal generation. Homepage: https://roverbench.github.io

Mingjun Wang, Yihan Wen, Yuntao Lu, Fengrui Liu, Yuxiang Zhao, Boyu Han, Jianan Mu, Yibo Lin, Runsheng Wang, Bei Yu 等

Integrated circuit (IC) designs require transforming high-level specifications into physical layouts, demanding extensive expertise and specialized tools, as well as months of time and numerous iterations. While machine learning (ML) has shown promise in various research domains, the lack of large-scale, open datasets limits its application in chip design. To address this limitation, we introduce CircuitNet 3.0, a large-scale, comprehensive, and open-source dataset curated to facilitate the evaluation of ML models on challenging timing and power prediction tasks. Starting with a diverse set of 8,659 validated open-source designs, we employ a systematic framework to generate over 15,000 instances. Through specialized syntax-tree mutation strategies and principled, task-oriented filtering methodology, we enrich each design with multi-modal information spanning multiple design stages, including complete design flow documentation, register-transfer-level (RTL) designs and corresponding netlists, detailed physical layouts, and comprehensive performance metrics. The experimental results demonstrate that ML models leveraging the enriched multi-stage, multi-modal circuit representations significantly improve performance over existing open-source datasets in electronic design automation (EDA) tasks, paving the way for efficient and accessible circuit representation learning. The dataset and codes are available in \url{https://github.com/sklp-eda-lab/iclr-circuitnet_3.0/}.

Applications · Robotics

Zihan Wang, Jiashun Wang, Jeff Tan, Yiwen Zhao, Jessica Hodgins, Shubham Tulsiani, Deva Ramanan

We introduce CRISP, a method that recovers simulatable human motion and scene geometry from monocular video. Prior work on joint human--scene reconstruction relies on data-driven priors and joint optimization with no physics in the loop, or recovers noisy geometry with artifacts that cause motion-tracking policies with scene interactions to fail. In contrast, our key insight is to fit simulation-ready convex planar primitives to a depth-based point cloud reconstruction of the scene via a simple clustering pipeline over depth, normals, and flow. To reconstruct scene geometry that might be occluded during interactions, we use human--scene contact modeling (e.g., using human posture to reconstruct the occluded seat of a chair). Finally, we ensure that human and scene reconstructions are physically plausible by using them to drive a humanoid controller via reinforcement learning. Our approach reduces motion-tracking failure rates from 55.2\% to 6.9\% on human-centric video benchmarks (EMDB, PROX), while delivering 43\% faster RL simulation throughput. This demonstrates CRISP's ability to generate physically valid human motion and interaction environments at scale, advancing real-to-sim applications for robotics. Code and interactive demos are available at our project website: https://crisp-real2sim.github.io/CRISP-Real2Sim

Applications · Physics

Yong Chu, Xun Zhou, Zenglin Xu, HUI WANG, Yue Yu

Accurate and robust wireless localization is a critical enabler for emerging 5G/6G applications, including autonomous driving, extended reality, and smart manufacturing. Despite its importance, achieving precise localization across diverse environments remains challenging due to the complex nature of wireless signals and their sensitivity to environmental changes. Existing data-driven approaches often suffer from limited generalization capability, requiring extensive labeled data and struggling to adapt to new scenarios. To address these limitations, we propose SigMap, a multimodal foundation model that introduces two key innovations: (1) A cycle-adaptive masking strategy that dynamically adjusts masking patterns based on channel periodicity characteristics to learn robust wireless representations; (2) A novel "map-as-prompt" framework that integrates 3D geographic information through lightweight soft prompts for effective cross-scenario adaptation. Extensive experiments demonstrate that our model achieves state-of-the-art performance across multiple localization tasks while exhibiting strong zero-shot generalization in unseen environments, significantly outperforming both supervised and self-supervised baselines by considerable margins.

Computer Vision · Image and Video Generation

Taeksoo Kim, Hanbyul Joo

We present a target-aware video diffusion model that generates videos from an input image, in which an actor interacts with a specified target while performing a desired action. The target is defined by a segmentation mask, and the action is described through a text prompt. Our key motivation is to incorporate target awareness into video generation, enabling actors to perform directed actions on designated objects. This enables video diffusion models to act as motion planners, producing plausible predictions of human-object interactions by leveraging the priors of large-scale video generative models. We build our target-aware model by extending a baseline model to incorporate the target mask as an additional input. To enforce target awareness, we introduce a special token that encodes the target's spatial information within the text prompt. We then fine-tune the model with our curated dataset using an additional cross-attention loss that aligns the cross-attention maps associated with this token with the input target mask. To further improve performance, we selectively apply this loss to the most semantically relevant attention regions and transformer blocks. Experimental results show that our target-aware model outperforms existing solutions in generating videos where actors interact accurately with the specified targets. We further demonstrate its efficacy in two downstream applications: zero-shot 3D HOI motion synthesis with physical plausibility and long-term video content creation.

Reinforcement Learning · Batch/Offline

Simon Zhan, Qingyuan Wu, Zhaofeng Wang, Frank Yang, Xiangyu Shi, Chao Huang, Qi Zhu

Offline–to–online deployment of reinforcement learning (RL) agents often stumbles over two fundamental gaps: (1) the sim-to-real gap, where real-world systems exhibit latency and other physical imperfections not captured in simulation; and (2) the interaction gap, where policies trained purely offline face out-of-distribution (OOD) issues during online execution, as collecting new interaction data is costly or risky. As a result, agents must generalize from static, delay-free datasets to dynamic, delay-prone environments. In this work, we propose $\textbf{DT-CORL}$ ($\textbf{D}$elay-$\textbf{T}$ransformer belief policy $\textbf{C}$onstrained $\textbf{O}$ffline $\textbf{RL}$), a novel framework for learning delay-resilient policies solely from static, delay-free offline data. DT-CORL introduces a transformer-based belief model to infer latent states from delayed observations and jointly trains this belief with a constrained policy objective, ensuring that value estimation and belief representation remain aligned throughout learning. Crucially, our method does not require access to delayed transitions during training and outperforms naive history-augmented baselines, SOTA delayed RL methods, and existing belief-based approaches. Empirically, we demonstrate that DT-CORL achieves strong delay-robust generalization across both locomotion and goal-conditioned tasks in the D4RL benchmark under varying delay regimes. Our results highlight that joint belief-policy optimization is essential for bridging the sim-to-real latency gap and achieving stable performance in delayed environments.

Applications · Physics

Wanjia Zhao, Qinwei (Martin) Ma, Jingzhe Shi, Shirley Wu, Jiaqi Han, Yijia Xiao, Si-Yuan Chen, Xiao Luo, Ludwig Schmidt, James Y Zou

Benchmarks for competition-style reasoning have advanced evaluation in mathematics and programming, yet physics remains comparatively underexplored. Most existing physics benchmarks evaluate only final answers, which fail to capture reasoning processes, while recent stepwise methods rely on heuristic LLM-as-judge scoring or restrictive linear assumptions, limiting reliability and diagnostic validity. We introduce PRISM-Physics, a process-level evaluation framework and benchmark for complex physics reasoning problems. Solutions are represented as directed acyclic graphs (DAGs) of formulas, explicitly encoding causal dependencies among intermediate steps to enable fine-grained, interpretable, and theoretically grounded scoring. We prove the optimality of the DAG representation and the corresponding scoring policy. Combining with a fully rule-based method for symbolic formula equivalence matching that we developed, we ensure consistent validation across diverse formulations without heuristic judgments. Results show that our evaluation framework is more aligned with human experts' scoring. Experiments on state-of-the-art LLMs reveal persistent reasoning failures in physics, while step-level scoring offers both diagnostic insight and rich signals for later training. By combining structural rigor, theoretical guarantees, and symbolic validation, PRISM-Physics provides a principled foundation for advancing process-level evaluation and guiding the development of models with deeper scientific reasoning capabilities.

Yanjiang Guo, Lucy Shi, Jianyu Chen, Chelsea Finn

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number of real-world rollouts, while systematic improvement demands additional corrective data with expert labels. Both of these processes are slow, costly, and difficult to scale. World models offer a promising, scalable alternative by enabling policies to rollout within imagination space. However, a key challenge is building a controllable world model that can handle multi-step interactions with generalist robot policies. This requires a world model compatible with modern generalist policies by supporting multi-view prediction, fine-grained action control, and consistent long-horizon interactions, which is not achieved by previous works. In this paper, we make a step forward by introducing a controllable multi-view world model that can be used to evaluate and improve the instruction-following ability of generalist robot policies. Our model maintains long-horizon consistency with a pose-conditioned memory retrieval mechanism and achieves precise action control through frame-level action conditioning. Trained on the DROID dataset (95k trajectories, 564 scenes), our model generates spatially and temporally consistent trajectories under novel scenarios and new camera placements for over 20 seconds. We show that our method can accurately rank policy performance without real-world robot rollouts. Moreover, by synthesizing successful trajectories in imagination and using them for supervised fine-tuning, our approach can improve policy success by 44.7\%. Videos can be found at https://sites.google.com/view/ctrl-world.

Computer Vision · Image and Video Generation

Rongsheng Wang, Minghao Wu, Hongru Zhou, Zhihan Yu, Zhenyang Cai, Junying Chen, Wang Benyou

Recent advances in video generation have opened new avenues for macroscopic simulation of complex dynamic systems, but their application to microscopic phenomena remains largely unexplored. Microscale simulation holds great promise for biomedical applications such as drug discovery, organ-on-chip systems, and disease mechanism studies, while also showing potential in education and interactive visualization. In this work, we introduce **MicroWorldBench**, a multi-level rubric-based benchmark for microscale simulation tasks. MicroWorldBench enables systematic, rubric-based evaluation through 459 unique expert-annotated criteria spanning multiple microscale simulation task (e.g., organ-level processes, cellular dynamics, and subcellular molecular interactions) and evaluation dimensions (e.g., scientific fidelity, visual quality, instruction following). MicroWorldBench reveals that current SOTA video generation models fail in microscale simulation, showing violations of physical laws, temporal inconsistency, and misalignment with expert criteria. To address these limitations, we construct **MicroSim-10K**, a high-quality, expert-verified simulation dataset. Leveraging this dataset, we train **MicroVerse**, a video generation model tailored for microscale simulation. MicroVerse can accurately reproduce complex microscale mechanism. Our work first introduce the concept of **Micro-World Simulation** and present a **proof of concept**, paving the way for applications in biology, education, and scientific visualization. Our work demonstrates the potential of educational microscale simulations of biological mechanisms.

General Machine Learning · Causality

Cecilia Casolo, Sören Becker, Niki Kilbertus

Dynamical systems modeling is a core pillar of scientific inquiry across natural and life sciences. Increasingly, dynamical system models are learned from data, rendering identifiability a paramount concept. For systems that are not identifiable from data, no guarantees can be given about their behavior under new conditions and inputs, or about possible control mechanisms to steer the system. It is known in the community that "linear ordinary differential equations (ODE) are almost surely identifiable from a single trajectory." However, this only holds for dense matrices. The sparse regime remains underexplored, despite its practical relevance with sparsity arising naturally in many biological, social, and physical systems. In this work, we address this gap by characterizing the identifiability of sparse linear ODEs. Contrary to the dense case, we show that sparse systems are unidentifiable with a positive probability in practically relevant sparsity regimes and provide lower bounds for this probability. We further study empirically how this theoretical unidentifiability manifests in state-of-the-art methods to estimate linear ODEs from data. Our results corroborate that sparse systems are also practically unidentifiable. Theoretical limitations are not resolved through inductive biases or optimization dynamics. Our findings call for rethinking what can be expected from data-driven dynamical system modeling and allows for quantitative assessments of how much to trust a learned linear ODE.

Applications · Physics

Alessandro Trenta, Andrea Cossu, Davide Bacciu

Real-world phenomena typically involve multiple, interwoven dynamics that can be elegantly captured by systems of Partial Differential Equations (PDEs). However, accurately solving such systems remains a challenge. In this paper, we introduce ComPhy (CP), a novel modular framework designed to leverage the inherent physical structure of the problem to solve systems of PDEs. CP assigns each PDE to a dedicated learning module, each capable of incorporating state-of-the-art methodologies such as Physics-Informed Neural Networks or Neural Conservation Laws. Crucially, CP introduces an end-to-end alignment mechanism, explicitly designed around the physical interplay of shared variables, enabling knowledge transfer between modules, and promoting solutions that are the result of the collective effort of all modules. CP is the first approach specifically designed to tackle systems of PDEs, and our results show that it outperforms state-of-the-art approaches where a single model is trained on all PDEs at once.

Applications · Time Series

Yuanzhao Zhang, William Gilpin

Recent time-series foundation models exhibit strong abilities to predict physical systems. These abilities include zero-shot forecasting, in which a model forecasts future states of a system given only a short trajectory as context, without knowledge of the underlying physics. Here, we show that foundation models often forecast through a simple parroting strategy, and when they are not parroting they exhibit some shared failure modes such as converging to the mean. As a result, a naive context parroting model that copies directly from the context scores higher than leading time-series foundation models on predicting a diverse range of dynamical systems, including low-dimensional chaos, turbulence, coupled oscillators, and electrocardiograms, at a tiny fraction of the computational cost. We draw a parallel between context parroting and induction heads, which explains recent works showing that large language models can often be repurposed for time series forecasting. Our dynamical systems perspective also ties the scaling between forecast accuracy and context length to the fractal dimension of the underlying chaotic attractor, providing insight into previously observed in-context neural scaling laws. By revealing the performance gaps and failure modes of current time-series foundation models, context parroting can guide the design of future foundation models and help identify in-context learning strategies beyond parroting.

Computer Vision · Vision Models & Multimodal

Zhenyu Pan, Han Liu

We present MetaSpatial, the first reinforcement learning (RL) framework for enhancing 3D spatial reasoning in vision-language models (VLMs), enabling real-time 3D scene layout generation without post-processing. MetaSpatial addresses two key challenges: (i) the need for extensive post-processing, as existing VLMs lack inherent 3D spatial reasoning to generate realistic layouts; and (ii) the inefficiency of supervised fine-tuning (SFT) for layout generation due to scarcity of perfect annotations. Our core contribution is the 3D Spatial Policy Optimization (3D-SPO) algorithm, which incorporates physics-aware modulation into advantage estimates at the object level and trajectory-level reward from a training-only multi-turn refinement pipeline. This design enhances temporal credit assignment and encourages spatially consistent policy learning. Empirical evaluations across models of varying scales demonstrate that MetaSpatial improves spatial coherence, physical plausibility, and formatting stability, leading to more realistic and functionally coherent object placements applicable to metaverse environments.

Computer Vision · Image and Video Generation

Hritik Bansal, Clark Peng, Yonatan Bitton, Roman Goldenberg, Aditya Grover, Kai-Wei Chang

Large-scale video generative models, capable of creating realistic videos of diverse visual concepts, are strong candidates for general-purpose physical world simulators. However, their adherence to physical commonsense across real-world actions remains unclear (e.g., playing tennis, backflip). Existing benchmarks suffer from limitations such as limited size, lack of human evaluation, sim-to-real gaps, and absence of fine-grained physical rule analysis. To address this, we introduce VideoPhy-2, an action-centric dataset for evaluating physical commonsense in generated videos. We curate 4000 diverse and detailed prompts for video synthesis from modern generative models. We perform human evaluation that assesses semantic adherence, physical commonsense, and grounding of physical rules in the generated videos. Our findings reveal major shortcomings, with even the best model achieving only $47.7\%$ joint performance (i.e., high semantic and physical commonsense adherence) on the hard subset of VideoPhy-2. We find that the models particularly struggle with conservation laws like mass and momentum. Finally, we also train VideoPhy-2-AutoEval, an automatic evaluator for fast, reliable assessment on our dataset. Overall, VideoPhy-2 serves as a rigorous benchmark, exposing critical gaps in video generative models and guiding future research in physically-grounded video generation. The data and code is available at \url{https://videophy2.github.io/}.

Wenjie Du, Jiahui Zhang, Xuqiang Li, Sihan Wang, Zhengyang Zhou, Hongxin Xiang, Jun Xia, Ye Wei, Yang Wang

Molecular interactions are a common phenomenon in physical chemistry field, which could produce unexpected biochemical properties harmful to humans, such as drug-drug interactions. Machine learning has the potential to deliver rapid and accurate predictions. However, the complexity of molecular structures and the diversity of molecular interactions could undermine model prediction accuracy and hinder generalizability. In this context, identifying core invariant substructures (\textit{i.e.}, rationales) has become essential for enhancing interpretability and generalization. Despite notable efforts, existing models often neglect the molecular pairs’ modeling, leading to insufficient capture of interaction relationships. To address these limitations, we propose a novel framework, \textbf{I}nteraction-aware \textbf{I}nvariant \textbf{Mole}cular learning (I2Mole), for generalizable property prediction. I2Mole meticulously models atomic interactions such as hydrogen bonds by initially establishing indiscriminate connections between intermolecular atoms, which are subsequently refined using an improved graph information bottleneck theory tailored for merged graphs. To further enhance model generalization, we construct an environment codebook by environment subgraph of the merged graph. This approach not only could provide noise source for optimizing mutual information but also preserve the integrity of chemical semantic information. By comprehensively leveraging the information inherent in the merged graph, our model accurately captures core substructures and significantly enhances generalization capabilities. Extensive experimental validation demonstrates the efficacy and generalizability of I2Mole. The implementation code is available.

Zijie Zhao, Honglei Guo, Shengqian Chen, Kaixuan Xu, Bo Jiang, Yuanheng Zhu, Dongbin Zhao

Model-based reinforcement learning (MBRL) has achieved remarkable success in robotics due to its high sample efficiency and planning capability. However, extending MBRL to physical multi-robot cooperation remains challenging due to the complexity of joint dynamics. To address this challenge, we propose the Sequential World Model (**SeqWM**), a novel framework that integrates the sequential paradigm into multi-robot MBRL. SeqWM employs independent, autoregressive agent-wise world models to represent joint dynamics, where each agent generates its future trajectory and plans its actions based on the predictions of its predecessors. This design lowers modeling complexity and enables the emergence of advanced cooperative behaviors through explicit intention sharing. Experiments on Bi-DexHands and Multi-Quadruped demonstrate that SeqWM outperforms existing state-of-the-art model-based and model-free baselines in both overall performance and sample efficiency, while exhibiting advanced cooperative behaviors such as predictive adaptation, temporal alignment, and role division. Furthermore, SeqWM has been successfully deployed on physical quadruped robots, validating its effectiveness in real-world multi-robot systems. Demos and code are available at: https://github.com/zhaozijie2022/seqwm

Xi Wang, Yang Zhang, Yingjia Zhang, Yejia Cai, Shenji Wan

Molecular representations (MRs) that capture 3D conformations are critical for applications such as reaction prediction, drug design, and material discovery. Yet despite the rapid development of molecular representation models, there is no comprehensive benchmark to evaluate their treatment of 3D conformational information. We introduce 3DCS, the first benchmark for 3D Conformational Sensitivity in MRs. 3DCS evaluates whether representations within the same molecule (i) preserve geometric variation, (ii) capture chirality, and (iii) reflect the energy landscape. To enable this, we curate three large-scale datasets ($>$1M molecules, $\sim$10M conformers) spanning relaxed torsional scans, chiral drug candidates, and AIMD trajectories, and propose a unified Geometry–Chirality–Energy (GCE) evaluation framework. Empirical analysis reveals that while modern data-driven MRs are highly geometry-sensitive, they inconsistently handle chirality and poorly align with energy, which is often overlooked. 3DCS thus provides the first rigorous benchmark for developing physically grounded, functionally reliable 3D molecular representations. GitHub repository: https://github.com/ComDec/3DCS.

Computer Vision · Image and Video Generation

Shiqian Li, Ruihong Shen, Junfeng Ni, Chang Pan, Chi Zhang, Yixin Zhu

Predicting physical dynamics from raw visual data remains a major challenge in AI. While recent video generation models have achieved impressive visual quality, they still cannot consistently generate physically plausible videos due to a lack of modeling of physical laws. Recent approaches combining 3D Gaussian splatting and physics engines can produce physically plausible videos, but are hindered by high computational costs in both reconstruction and simulation, and often lack robustness in complex real-world scenarios. To address these issues, we introduce **Neural Gaussian Force Field (NGFF)**, an end-to-end neural framework that integrates 3D Gaussian perception with physics-based dynamic modeling to generate interactive, physically realistic 4D videos from multi-view RGB inputs, achieving two orders of magnitude faster than prior Gaussian simulators. To support training, we also present **GSCollision**, a 4D Gaussian dataset featuring diverse materials, multi-object interactions, and complex scenes, totaling over 640k rendered physical videos (∼4 TB). Evaluations on synthetic and real 3D scenarios show NGFF’s strong generalization and robustness in physical reasoning, advancing video prediction towards physics-grounded world models.

Computer Vision · Everything Else

Zekai Deng, Ye Shi, Kaiyang Ji, Lan Xu, Shaoli Huang, Jingya Wang

Human-object interaction (HOI) synthesis is crucial for applications in animation, simulation, and robotics. However, existing approaches either rely on expensive motion capture data or require manual reward engineering, limiting their scalability and generalizability. In this work, we introduce the first unified physics-based HOI framework that leverages Vision-Language Models (VLMs) to enable long-horizon interactions with diverse object types — including static, dynamic, and articulated objects. We introduce VLM-Guided Relative Movement Dynamics (RMD), a fine-grained spatio-temporal bipartite representation that automatically constructs goal states and reward functions for reinforcement learning. By encoding structured relationships between human and object parts, RMD enables VLMs to generate semantically grounded, interaction-aware motion guidance without manual reward tuning. To support our methodology, we present Interplay, a novel dataset with thousands of long-horizon static and dynamic interaction plans. Extensive experiments demonstrate that our framework outperforms existing methods in synthesizing natural, human-like motions across both simple single-task and complex multi-task scenarios. For more details, please refer to our project webpage: https://vlm-rmd.github.io/.