Sceniris: A Fast Procedural Scene Generation Framework

TL;DR

Sceniris is a highly efficient procedural scene generation framework that rapidly creates large-scale, collision-free 3D scenes with optional robot reachability checks, significantly outperforming previous methods in speed.

Contribution

The paper introduces Sceniris, a novel framework that dramatically increases scene generation speed and expands scene variability features compared to prior methods.

Findings

Achieves at least 234x speed-up over Scene Synthesizer.

Supports diverse scene requirements with expanded object relationships.

Provides collision-free and robot-manipulation feasible scenes.

Abstract

Synthetic 3D scenes are essential for developing Physical AI and generative models. Existing procedural generation methods often have low output throughput, creating a significant bottleneck in scaling up dataset creation. In this work, we introduce Sceniris, a highly efficient procedural scene generation framework for rapidly generating large-scale, collision-free scene variations. Sceniris also provides an optional robot reachability check, providing manipulation-feasible scenes for robot tasks. Sceniris is designed for maximum efficiency by addressing the primary performance limitations of the prior method, Scene Synthesizer. Leveraging batch sampling and faster collision checking in cuRobo, Sceniris achieves at least 234x speed-up over Scene Synthesizer. Sceniris also expands the object-wise spatial relationships available in prior work to support diverse scene requirements. Our code is available at https://github.com/rai-inst/sceniris