MetaScenes: Towards Automated Replica Creation for Real-world 3D Scans

Huangyue Yu; Baoxiong Jia; Yixin Chen; Yandan Yang; Puhao Li; Rongpeng Su; Jiaxin Li; Qing Li; Wei Liang; Song-Chun Zhu; Tengyu Liu; Siyuan Huang

arXiv · 2505.02388

MetaScenes: Towards Automated Replica Creation for Real-world 3D Scans

Huangyue Yu·Baoxiong Jia·Yixin Chen·Yandan Yang·Puhao Li·Rongpeng Su·Jiaxin Li·Qing Li·Wei Liang·Song-Chun Zhu·Tengyu Liu·Siyuan Huang

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Abstract

Embodied AI (EAI) research requires high-quality, diverse 3D scenes to effectively support skill acquisition, sim-to-real transfer, and generalization. Achieving these quality standards, however, necessitates the precise replication of real-world object diversity. Existing datasets demonstrate that this process heavily relies on artist-driven designs, which demand substantial human effort and present significant scalability challenges. To scalably produce realistic and interactive 3D scenes, we first present MetaScenes, a large-scale, simulatable 3D scene dataset constructed from real-world scans, which includes 15366 objects spanning 831 fine-grained categories. Then, we introduce Scan2Sim, a robust multi-modal alignment model, which enables the automated, high-quality replacement of assets, thereby eliminating the reliance on artist-driven designs for scaling 3D scenes. We further propose two benchmarks to evaluate MetaScenes: a detailed scene synthesis task focused on small item layouts for robotic manipulation and a domain transfer task in vision-and-language navigation (VLN) to validate cross-domain transfer. Results confirm MetaScene's potential to enhance EAI by supporting more generalizable agent learning and sim-to-real applications, introducing new possibilities for EAI research. Project website: https://meta-scenes.github.io/.

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Huangyue Yu, Baoxiong Jia, Yixin Chen, Yandan Yang, Puhao Li, Rongpeng Su, Jiaxin Li, Qing Li, Wei Liang, Song-Chun Zhu, Tengyu Liu, Siyuan Huang. 2025-05-05. MetaScenes: Towards Automated Replica Creation for Real-world 3D Scans. https://arxiv.org/abs/2505.02388

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