EmbodiedGen：迈向面向具身智能的生成式三维世界引擎

EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence

June 12, 2025

作者: Wang Xinjie, Liu Liu, Cao Yu, Wu Ruiqi, Qin Wenkang, Wang Dehui, Sui Wei, Su Zhizhong

cs.AI

摘要

構建一個物理真實且精確縮放的模擬三維世界，對於具身智能任務的訓練與評估至關重要。三維數據資產的多樣性、真實性、低成本可及性與經濟性，是實現具身人工智能泛化與可擴展性的關鍵。然而，當前大多數具身智能任務仍嚴重依賴於手工創建與註釋的傳統三維計算機圖形資產，這些資產存在生產成本高、真實性有限的問題，極大地阻礙了數據驅動方法的可擴展性。我們提出了EmbodiedGen，這是一個用於交互式三維世界生成的基礎平臺。它能夠以低成本大規模生成高質量、可控且具有照片級真實感的三維資產，這些資產具備精確的物理屬性和真實世界比例，並採用統一機器人描述格式（URDF），可直接導入各種物理仿真引擎進行細粒度物理控制，支持下游任務的訓練與評估。EmbodiedGen是一個易於使用、功能全面的工具包，由六個核心模塊組成：圖像到三維、文本到三維、紋理生成、關節物體生成、場景生成與佈局生成。EmbodiedGen利用生成式人工智能，生成由生成式三維資產組成的多樣化、交互式三維世界，以應對具身智能相關研究在泛化與評估需求上的挑戰。代碼可訪問https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html。

English

Constructing a physically realistic and accurately scaled simulated 3D world is crucial for the training and evaluation of embodied intelligence tasks. The diversity, realism, low cost accessibility and affordability of 3D data assets are critical for achieving generalization and scalability in embodied AI. However, most current embodied intelligence tasks still rely heavily on traditional 3D computer graphics assets manually created and annotated, which suffer from high production costs and limited realism. These limitations significantly hinder the scalability of data driven approaches. We present EmbodiedGen, a foundational platform for interactive 3D world generation. It enables the scalable generation of high-quality, controllable and photorealistic 3D assets with accurate physical properties and real-world scale in the Unified Robotics Description Format (URDF) at low cost. These assets can be directly imported into various physics simulation engines for fine-grained physical control, supporting downstream tasks in training and evaluation. EmbodiedGen is an easy-to-use, full-featured toolkit composed of six key modules: Image-to-3D, Text-to-3D, Texture Generation, Articulated Object Generation, Scene Generation and Layout Generation. EmbodiedGen generates diverse and interactive 3D worlds composed of generative 3D assets, leveraging generative AI to address the challenges of generalization and evaluation to the needs of embodied intelligence related research. Code is available at https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html.