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[Submitted on 1 Oct 2026] Title:Awomo-SimDataEngine: Agentic Simulation-ReadyWorld Generation View a PDF of the paper titled Awomo-SimDataEngine: Agentic Simulation-ReadyWorld Generation, by Awomo-PhysicalRSI Team and 23 other authors View PDF HTML (experimental) 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, this http URL results support the utility of the generated data for cross-simulatorpolicy training, with more limited gains on long-horizon tasks. Subjects: Robotics (cs.RO) Cite as: arXiv:2610.02274 [cs.RO] (or arXiv:2610.02274v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.02274 arXiv-issued DOI via DataCite (pending registration) Submission history From: Xin Wang [view email] [v1] Thu, 1 Oct 2026 08:38:29 UTC (51,017 KB) Full-text links: Access Paper: View a PDF of the paper titled Awomo-SimDataEngine: Agentic Simulation-ReadyWorld Generation, by Awomo-PhysicalRSI Team and 23 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)