Robotics paper index

AesCode: Aesthetic Code Generation with Decoupled Cross-Modal Rewards

2026-10-13 · arXiv: 2610.18860

One-line summary

A robotics research paper on AesCode: Aesthetic Code Generation with Decoupled Cross-Modal Rewards.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Generating information-rich visual artifacts such as slides, posters, and dashboards as code is appealing because the outputs are structured, editable, and verifiable. Yet code models cannot see how their choices of layout and color come together on the canvas, often limiting spatial planning and aesthetic quality. Image generators excel at visual design but can misrender requested content, making their outputs unreliable targets for direct reproduction. We therefore introduce AesCode, which generates code grounded in the content prompt while using an image generated from the same prompt as an aesthetic guidance. To do so, AesCode represents the target as a design graph that describes the whole canvas and makes each property attributable. From this graph, we derive complementary cross-modal rewards: deterministic verifiers score properties parsable from code and rendering, while a VLM judge assesses the non-parsable ones with a sample-specific Visual Graph Rubric (VGR) tied to graph elements and relations. We optimize these decoupled rewards through reinforcement learning with per-channel normalization to jointly improve spatial planning, aesthetic quality, and verifiable correctness. To evaluate this setting, we build a benchmark that scores verifiable correctness and visual quality separately, with visual scores highly consistent with human judgments. We find that reference images substantially improve the visual quality of code generated by existing models, and ablations show that AesCode benefits from references both as model input and as a source of visual rewards. Relative to same-scale Qwen3-VL baselines given the same references, AesCode-8B and AesCode-32B improve visual quality by 31.1 and 22.4 percentage points, reaching scores comparable to those of closed-source frontier models such as GPT-5.5 and Claude Opus 4.8.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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