arXiv:2601.13556cs.RO2026-01被引 1

用逻辑驱动生成多样仿真环境,提升智能体测试全面性。

LogicEnvGen: Task-Logic Driven Generation of Diverse Simulated Environments for Embodied AI

  • 基于大模型构建任务逻辑树,生成多条潜在执行路径
  • 相较基线环境逻辑多样性提升1.04至2.61倍,故障发现率提高4%-68%
  • 适合评估智能体在复杂逻辑场景下的适应能力与规划鲁棒性

仿真环境在具身智能中扮演关键角色,类似于软件工程中的测试用例。然而,现有环境生成方法多关注视觉真实感(如物体多样性与布局一致性),忽视了从测试视角看至关重要的逻辑多样性,限制了对智能体适应性与规划鲁棒性的全面评估。为此,我们提出LogicEnvGen,一种由大语言模型驱动、采用自上而下范式的新型环境生成方法,旨在为智能体生成逻辑多样化的仿真环境作为测试用例。给定智能体任务后,LogicEnvGen首先分析其执行逻辑,构建决策树结构的行为计划,并合成一组逻辑轨迹;随后通过启发式算法优化轨迹集,减少冗余模拟。每条逻辑轨迹对应一种可能的任务情境,系统据此实例化具体环境,并采用约束求解确保物理合理性。此外,我们引入LogicEnvEval,一个包含四项量化指标的新型基准。实验验证了基线缺乏逻辑多样性,且LogicEnvGen实现1.04-2.61倍的多样性提升,显著提高故障揭示性能4.00%-68.00%。

原文摘要 · Abstract (English)

Simulated environments play an essential role in embodied AI, functionally analogous to test cases in software engineering. However, existing environment generation methods often emphasize visual realism (e.g., object diversity and layout coherence), overlooking a crucial aspect: logical diversity from the testing perspective. This limits the comprehensive evaluation of agent adaptability and planning robustness in distinct simulated environments. To bridge this gap, we propose LogicEnvGen, a novel method driven by Large Language Models (LLMs) that adopts a top-down paradigm to generate logically diverse simulated environments as test cases for agents. Given an agent task, LogicEnvGen first analyzes its execution logic to construct decision-tree-structured behavior plans and then synthesizes a set of logical trajectories. Subsequently, it adopts a heuristic algorithm to refine the trajectory set, reducing redundant simulation. For each logical trajectory, which represents a potential task situation, LogicEnvGen correspondingly instantiates a concrete environment. Notably, it employs constraint solving for physical plausibility. Furthermore, we introduce LogicEnvEval, a novel benchmark comprising four quantitative metrics for environment evaluation. Experimental results verify the lack of logical diversity in baselines and demonstrate that LogicEnvGen achieves 1.04-2.61x greater diversity, significantly improving the performance in revealing agent faults by 4.00%-68.00%.

具身智能环境生成逻辑推理测试评估

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