SceneSmith

SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes

arXiv:2602.09153v2 Announce Type: replace Abstract: Simulation has become a key tool for training and evaluating home robots at scale, yet existing environments fail to capture the diversity and physical complexity of real indoor spaces. Current scene synthesis methods produce sparsely furnished rooms that lack the dense clutter, articulated furniture, and physical properties essential for robotic manipulation. We introduce SceneSmith, a hierarchical agentic framework that generates...