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Survey: 3D Generation for Embodied AI and Robotic Simulation

This survey examines three roles of 3D generation in embodied AI and robotic simulation: as a data generator producing simulation-ready assets with articulated structure, physical properties, and deformable content; as a builder of interactive, task-oriented scenes for simulation environments; and as a sim-to-real bridge supporting digital twin reconstruction, data augmentation, and synthetic demonstrations. The authors note that the field is shifting from visual realism toward interactive usability, and they list key bottlenecks including limited physical annotation, the disconnect between geometric quality and physical validity, fragmented evaluation, and the sim-to-real gap.

Part of the event: A survey reviews three roles of 3D generation in embodied intelligence and robot simulation

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