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

TL;DR

EmbodiedGen is a versatile platform that automatically generates high-quality, realistic 3D worlds with accurate physical properties, facilitating scalable training and evaluation for embodied AI tasks.

Contribution

It introduces EmbodiedGen, a comprehensive toolkit for scalable, controllable, and photorealistic 3D asset generation using generative AI, addressing limitations of traditional manual asset creation.

Findings

Enables low-cost, high-quality 3D asset generation

Supports diverse, interactive 3D world creation

Facilitates physical control and real-world scale integration

Abstract

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.