EmbodiedGen：面向具身智能的生成式3D世界引擎
EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligence
AI总结：
针对传统3D资产成本高、真实感有限制约具身智能发展的问题，研究提出EmbodiedGen生成平台，可低成本生成URDF格式的高质量可控3D资产，支持多类生成任务与下游仿真训练评估。
摘要：
构建物理真实、尺度精准的模拟3D世界对具身智能任务的训练与评估至关重要。3D数据资产的多样性、真实感、低成本可获取性与可负担性，是实现具身AI泛化性与可扩展性的关键。然而，当前大多数具身智能任务仍严重依赖人工创建与标注的传统3D计算机图形资产，这类资产生产成本高、真实感有限，这些局限极大阻碍了数据驱动方法的可扩展性。我们提出EmbodiedGen，一个用于交互式3D世界生成的基础平台。它能够以低成本可扩展地生成高质量、可控且照片级真实的3D资产，这些资产具备准确的物理属性与真实世界尺度，采用统一机器人描述格式（Unified Robotics Description Format, URDF），可直接导入各类物理仿真引擎进行细粒度物理控制，为下游任务的训练与评估提供支持。EmbodiedGen是一款易用、功能齐全的工具包，由六大核心模块组成：图像转3D、文本转3D、纹理生成、铰接物体生成、场景生成与布局生成。EmbodiedGen利用生成式AI生成由生成式3D资产构成的多样化交互式3D世界，解决具身智能相关研究在泛化性与评估方面的需求挑战。代码可在https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html获取。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
