ScaffoldM3C: A Multimodal Sequential Monte Carlo Framework for Generative Stable Construction Planning
Read the original on arXiv Machine Learning →ScaffoldM3C is a lightweight, multimodal, auto‑regressive framework that generates stable 3D block constructions by treating the task as a probabilistic next‑block generation problem. It incorporates text, image, and sketch conditioning, introduces a scaffold block token to aid intermediate stability, and uses Sequential Monte Carlo to explore multiple assembly sequences simultaneously. The model is four times smaller than existing baselines, achieving 5‑ to 20‑fold inference speedups while matching or surpassing state‑of‑the‑art construction quality and stability in both simulations and real‑world robot demonstrations.
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