Code-as-World

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Code-as-World

Agentic Discovery of Executable World Representations for Physical Reasoning

A world becomes intelligible to evolving intelligence when it can be represented, executed, and verified.

Overview

Pixels are evidence of the physical world, not its ontology. A pixel-level observation records how the world appears at a particular moment and from a particular viewpoint, but does not directly specify what exists within it, how it is structured, or what governs its evolution.

Code-as-World introduces code as executable representations for the physical world and an agentic process for discovering them through iterative simulation and verification. In doing so, it turns raw abundant observations into reusable physical data: explicit states, dynamics, and mechanisms that capture not only what was seen, but the underlying world that could have produced it. This provides scalable physical supervision, enabling our models to achieve state-of-the-art performance on quantitative physical reasoning.

News

• [2026/08/27] Code-as-World technical report released.
• [2026/08/27] MirroS blog and Project page is live.

Get started

The release includes local inference and QuantiPhy evaluation for Code-as-World-VL-4B and Code-as-World-VL-9B, plus a video-driven abstraction example.

Installation

Use Python 3.10 or 3.11 on a CUDA host.

git clone https://github.com/MirroS-Lab/Code-as-World.git
cd Code-as-World
python -m venv .venv
source .venv/bin/activate
pip install -r requirements/inference.txt

hf download MirroS-Lab/Code-as-World-VL-4B --local-dir weights/4b
hf download MirroS-Lab/Code-as-World-VL-9B --local-dir weights/9b

Clone QuantiPhy and download its validation videos:

git clone https://github.com/Paulineli/QuantiPhy.git /path/to/QuantiPhy
hf download PaulineLi/QuantiPhy-validation \
  --repo-type dataset \
  --local-dir /path/to/QuantiPhy-validation

QuantiPhy evaluation

Run the released evaluation directly from the Code-as-World repository:

python -m code_as_world.evaluation 4b \
  --input-csv /path/to/QuantiPhy/quantiphy_validation.csv \
  --video-dir /path/to/QuantiPhy-validation/validation_videos

python -m code_as_world.evaluation 9b \
  --input-csv /path/to/QuantiPhy/quantiphy_validation.csv \
  --video-dir /path/to/QuantiPhy-validation/validation_videos

Each run writes an evaluator-compatible prediction CSV, a single-run metric summary, and the raw generations to outputs/quantiphy/. To evaluate both CSV files with the official QuantiPhy evaluator:

pip install pandas
python /path/to/QuantiPhy/evaluator.py \
  outputs/quantiphy \
  outputs/quantiphy_metrics \
  --gt_file /path/to/QuantiPhy/quantiphy_validation.csv

OpenAI-compatible serving

The checkpoints can also be exposed through the standard vLLM API:

CUDA_VISIBLE_DEVICES=0 vllm serve weights/4b \
  --served-model-name code-as-world-4b \
  --chat-template code_as_world/templates/qwen3_5_no_think.jinja \
  --chat-template-content-format openai \
  --default-chat-template-kwargs '{"enable_thinking":false}' \
  --max-model-len 4608 \
  --gpu-memory-utilization 0.90 \
  --media-io-kwargs '{"video":{"num_frames":16,"fps":-1,"video_backend":"openpangu"}}' \
  --mm-processor-kwargs '{"do_sample_frames":false}' \
  --mm-processor-cache-gb 0 \
  --generation-config vllm

For the 9B checkpoint, replace weights/4b and code-as-world-4b with weights/9b and code-as-world-9b.

Video-driven abstraction example

Install MuJoCo and run the bundled ballistic soccer case:

pip install -r requirements/simulation.txt
python -m code_as_world.simulation

The rendered video and trajectory are written to outputs/simulations/. Use python -m code_as_world.simulation --no-render when only the trajectory is needed.

TODO

• Release Code-as-World-VL checkpoints and inference recipes
• Technical report, project page, and blog release

Acknowledgements

We sincerely thank the teams behind the following projects for making their work available to the community:

Component	Projects
Physical simulation	MuJoCo
Visual perception and reconstruction	SAM 3, DA3, VGGT-Omega, SAM 3D
Realistic video generation	Wan, VACE
Quantitative evaluation	QuantiPhy

… and many other excellent open-source projects.

Citation

If you find Code-as-World useful, please cite:

@article{mirros2026codeasworld,
  title   = {Code as Worlds: Agentic Discovery of Executable World Representations for Physical Reasoning},
  author  = {{MirroS Team}},
  journal = {arXiv preprint arXiv:2608.xxxxx},
  year    = {2026}
}