用代码生成可交互的室内场景,让物体可编辑、可模拟。
SceneCode: Executable World Programs for Editable Indoor Scenes with Articulated Objects

- 将自然语言提示转为可执行的代码程序生成场景
- 生成的物体具干净网格结构和可加载的物理属性
- 适合需要可控交互环境的研究与机器人测试
室内场景合成支撑着具身智能、机器人操作和基于仿真的策略评估,要求场景不仅外观合理,还需明确物体结构。现有方法通常以静态网格表示内容,关节信息依赖预设资源库,限制了物体级控制并无法按需生成可交互资产。本文提出 SceneCode 框架,将物理可交互的室内场景合成转化为程序化世界生成:房间级代理通过规划-设计-批评循环,将提示转化为结构化布局及物体资产请求;每个请求由五种代码生成策略之一处理,输出部分化的 Blender Python 程序,并经执行引导的修复-优化循环验证;最终程序编译为仿真可用资产,导出 SDF 格式用于物理模拟。持久化场景状态注册表关联对象请求、可执行代码、渲染几何与仿真资产,使场景构建可追溯且局部可编辑。我们在场景生成、物体质量、人类评估及下游机器人交互上进行评估,结果表明可执行程序提升了提示忠实度,生成更清晰的网格结构与可加载的关节元数据。
原文摘要 · Abstract (English)
Indoor scene synthesis underpins embodied AI, robotic manipulation, and simulation-based policy evaluation, where a useful scene must specify not only what the environment looks like, but also how its objects are structured. Existing pipelines, however, typically represent generated content as static meshes and inherit articulation only from curated asset libraries, which limits object-level controllability and prevents new interactable assets from being produced on demand. We address this gap by formulating physically interactable indoor scene synthesis as programmatic world generation, and present SceneCode, a framework that compiles a natural language prompt into an executable, code-driven indoor world rather than a collection of opaque meshes. A room-level agentic backbone first turns the prompt into a structured house layout and emits per-object AssetRequests through a planner--designer--critic loop. Each request is then routed to one of five code-generation strategies and converted into a synthesized part-wise Blender Python programs that are validated through an execution-guided repair-and-refine loop. The resulting programs are compiled into simulation-ready assets, and exported as SDF for physics simulation. A persistent scene-state registry links object requests, executable programs, rendered geometry, and simulation assets, turning scene assembly into a traceable and locally editable world-building process. We evaluate SceneCode across scene-level synthesis, object-level asset quality, human judgment, and downstream robot interaction. Results show that executable world programs improve prompt-faithful indoor scene generation and produce assets with cleaner mesh structure, and simulator-loadable articulation metadata. Project page: https://scene-code.github.io/.
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