Year: 2026
Type: preprint
Abstract: Synthetic 3D scene generation is increasingly used as a data source for computer vision and embodied AI, but existing generators often optimize perceptual realism without reliably satisfying task-critical functional constraints. This mismatch limits the usefulness of synthetic data for downstream training, where accessibility, traversability, and spatial rule compliance are often essential. We present iARCS, an iterative agentic reinforcement learning framework that adapts a pretrained scene generator to naturallanguage task requirements. iARCS uses a two-phase strategy: universal-reward pretraining to improve physical plausibility and layout quality, followed by task-specific finetuning with LLM-generated reward programs that are iteratively refined from training feedback. Experiments show improved constraint fidelity on walkability, reachability, and clearance-focused tasks, effective task-specific constraint optimization, and competitive scene diversity. We further show that data generated by iARCS improves a base generator, supporting its value as a practical synthetic data generation tool rather than only a controllable scene editing method.
Source: arXiv (Cornell University)
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7202006105