Awomo-SimDataEngine: Agentic Simulation-ReadyWorld Generation

PhysicalRSI Team; Danjiao Ma; Enhui Ma; Haohan Liu; Heng Jia; Hui Shan; Jianhua Xu; Jiahuan Zhang; Jiangdi Xu; Kaiwen Guo; Kaicheng Yu; Linwei Zhang; Liyang Jin; Maochun Luo; Pengyao Niu; Shiwen Li; Shuangyu Feng; Tong Zhang; Tianheng Wang; Xin Wang; Xiangru Huang; Yongqiang Huang; Zhaozhi Wang; Zijian Ma

arXiv · 2610.02274

Awomo-SimDataEngine: Agentic Simulation-ReadyWorld Generation

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Abstract

Generating useful robot-training data requires more than visually plausiblescenes: objects must support interaction, placements must remain physicallyvalid, and tasks must admit repeatable execution. We present\textbf{Awomo-SimDataEngine}, an agentic system that connects asset and scenegeneration to robot demonstration synthesis. Shared asset services providerigid and articulated objects, including structure-grounded part and jointgeneration with ISArt. Scene generation supports two complementary routes:Unravel reconstructs editable scenes from images, while SimForge buildssingle-room and multi-room environments from text. A graph-native harnesscoordinates construction, validation, andbounded repair, routing failures to the responsible module while retainingunaffected scene state. PolicyForge binds validated worlds to tasks and robotembodiments to produce replayable demonstrations. Evaluations cover assetgeometry, scene quality, and downstream policy learning. On MuJoCo-basedLIBERO-Plus, co-training with Isaac Sim demonstrations improves the overallsuccess rate of a World-Action Model (WAM) from $77.17\%$ to $89.43\%$. Goal and spatialsuccess improve by $31.66$ and $6.25$ percentage points, respectively.These results support the utility of the generated data for cross-simulatorpolicy training, with more limited gains on long-horizon tasks.

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PhysicalRSI Team, Danjiao Ma, Enhui Ma, Haohan Liu, Heng Jia, Hui Shan, Jianhua Xu, Jiahuan Zhang, Jiangdi Xu, Kaiwen Guo, Kaicheng Yu, Linwei Zhang, Liyang Jin, Maochun Luo, Pengyao Niu, Shiwen Li, Shuangyu Feng, Tong Zhang, Tianheng Wang, Xin Wang, Xiangru Huang, Yongqiang Huang, Zhaozhi Wang, Zijian Ma. 2026-10-01. Awomo-SimDataEngine: Agentic Simulation-ReadyWorld Generation. https://arxiv.org/abs/2610.02274

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