IDfRA: Self-Verification for Iterative Design in Robotic Assembly
IDfRA is a closed-loop framework that uses an LLM to plan assembly, a VLM to verify execution results, and then re-plans based on feedback. This iterative cycle allows the system to progressively improve design quality in complex environments without needing perfect initial knowledge of physics or the world model. It demonstrates that self-verification can lead to semantically meaningful and physically feasible designs.