外观
论文arXiv 2610.1765115 天前
Code2Worlds-2：用于具身世界仿真的物理合理智能体框架
原文链接：Code2Worlds-2: Physically Plausible Agent Harness for Embodied World Simulation（arXiv 2610.17651 · 发布日期：2026-10-13）
Code2Worlds-2: Physically Plausible Agent Harness for Embodied World Simulation
Code2Worlds-2通过场景编译器与仿真闭环细化，将4D世界生成转为具身仿真，并在SimCode4D及多类场景验证。
核心要点
- 现有编码LLM可从自然语言生成动态4D世界，但多为视觉产物，缺少碰撞、质量、摩擦、惯性和关节等物理语义。
- 方法保留原双流生成流程，新增SimReady Scene Compiler，将视觉场景转换为可由MuJoCo加载的MJCF表示。
- Simulator-in-the-Loop 4D Refiner通过编译、仿真、评判和细化循环，将视觉动态转为可执行刚体与关节动态。
- 论文提出SimCode4D状态基准含五类任务模板，实验显示生成场景具物理合理性、仿真兼容性和机器人可交互性。
验证范围与局限：验证范围为SimCode4D以及自然、室内、工业、城市和服务场景中的仿真评估。
英文摘要 (Abstract)
Recent coding large language models (LLMs) can synthesize dynamic 4D worlds from natural language, but the resulting content remains a visual artifact. It lacks physical semantics such as the collision geometry, mass, friction, inertia, and joint structure, required to enable it to simulate the physical world, and its dynamics are scripted to look plausible rather than designed to execute. What is needed is an executable world: one that a physics engine can load and step, resolving contact physically. We present Code2Worlds-2, an extension of Code2Worlds that turns 4D world generation into an embodied world simulation. We keep the original dual-stream generation pipeline intact and append two modules. First, a SimReady Scene Compiler that turns a generated visual scene into a simulator-compatible representation: it assigns collision meshes via convex decomposition, estimates physical attributes with a vision-language model, infers a lightweight support graph, instantiates the engine's contact, friction, and dynamics constraints, and applies a gravity settling pass, before exporting the scene as MuJoCo MJCF. Second, a Simulator-in-the-Loop 4D Refiner that implements an automated agent harness-a compile, simulate, critique and refine loop-that converts visual dynamics into executable rigid and articulated dynamics and evolves the physical settings rather than only the code, replacing the purely visual motion critic with a simulator critic that inspects penetration depth, collision pairs, stability, contact forces, joint limits, and robot reachability. We further propose SimCode4D, a state-based benchmark with five task templates for evaluating embodied simulation. Experiments on SimCode4D and across natural, indoor, industrial, urban, and service scenes show that Code2Worlds-2 produces physically plausible, simulator-compatible, and robot-interactable scenes.
作者：Haoyu Zhang, Siming Li, Zeyu Zhang, Yi Zhang, Tat-Seng Chua, Hao Tang
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