When Diffusion Learns How to Open Drawers
A drawer is a small test of whether a generated world is lying. A rendered apartment can look plausible from the camera angle. The sofa is against a wall, the table is centered, the cabinet has a tasteful texture, and the lighting politely pretends that nothing is wrong. Then a robot tries to open a drawer and discovers that the drawer path intersects the bed. Or a chair is placed so close to a cabinet that neither object can actually be used. The scene was visually acceptable. It was operationally useless. ...