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Official Code Release of SAGE: Scalable Agentic 3D Scene Generation for Embodied AI
| Date | Stars |
|---|---|
| 2026-07-31 | 374 |
| 2026-08-06 | 377 |
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# SAGE: Scalable Agentic 3D Scene Generation for Embodied AI **Hongchi Xia**, **Xuan Li**, **Zhaoshuo Li**, **Qianli Ma**, **Jiashu Xu**, **Ming-Yu Liu**, **Yin Cui**, **Tsung-Yi Lin**, **Wei-Chiu Ma**, **Shenlong Wang**, **Shuran Song**, **Fangyin Wei** *NVIDIA, University of Illinois Urbana-Champaign, Cornell University, Stanford University* [](https://arxiv.org/pdf/2602.10116) [](https://research.nvidia.com/labs/dir/sage/) [](https://huggingface.co/datasets/nvidia/SAGE-10k)  ## Intro SAGE is an agentic framework that, given a user-specified embodied task, understands the intent and automatically generates simulation-ready environments at scale. Here we release both 3D scene and action generation code, as well as the agentic-generated SAGE-10k dataset to foster further research. ## SAGE-10k Dataset [](https://huggingface.co/datasets/nvidia/SAGE-10k)  [SAGE-10k](https://huggingface.co/datasets/nvidia/SAGE-10k) is a large-scale interactive indoor scene dataset featuring realistic layouts, generated by the agentic-driven pipeline introduced in "SAGE: Scalable Agentic 3D Scene Generation for Embodied AI". The dataset contains 10,000 diverse scenes spanning 50 room types and styles, along with 565K uniquely generated 3D objects. ## Directory Structure The repository is organized into the following main components: - **`client/`** Contains the client-side implementation and scripts. This is the primary entry point for users to initiate scene generation, control the pipeline, and interface with NVIDIA Isaac Sim. - **`server/`** Hosts the core backend logic. This includes integrations with Foundation Models (LLMs, VLMs), 3D asset generation (TRELLIS), material synthesis, and the scene layout solvers. - **`IsaacLab/`** Integration with **NVIDIA Isaac Lab**, providing the simulation environment for robot learning and physical interaction tasks. > **Note:** This directory contains modifications to the original code and remains subject to the original [BSD-3-Clause License](https://github.com/isaac-sim/IsaacLab/blob/main/LICENSE). - **`M2T2/`** Integration with **M2T2**, utilized for generating contact-rich manipulation data and handling complex robot-object interactions. > **Note:** This directory contains modifications to the original code and remains subject to the original [NVIDIA License](https://github.com/NVlabs/M2T2/blob/master/LICENSE). - **`matfuse-sd/`** Integration with **MatFuse** material generation engine, used to generate high-quality textures and materials for 3D objects and scenes. > **Note:** This directory contains modifications to the original code and remains subject to the original [MIT License](https://github.com/giuvecchio/matfuse-sd/blob/main/LICENSE). - **`robomimic/`** Integration with **robomimic**, a framework for robot policy learning from demonstration, used for training policies on generated data. > **Note:** This directory contains modifications to the original code and remains subject to the original [MIT License](https://github.com/ARISE-Initiative/robomimic/blob/master/LICENSE). ## Getting Started To use this repository, you will need to set up both the server (backend) and the client (frontend/interface). Please refer to the respective README files for detailed instructions. ### 1. Server Setup **[Read the Server Documentation](server/README.md)** - Setup instructions for the backend infrastructure. - Hosting details for VLM (Qwen), LLM (GPT), and 3D generation models (TRELLIS). - Guides for running augmentation pipelines. ### 2. Client Setup **[Read the Client Documentation](client/README.md)** - Installation of the Python environme
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matched fp:5929f09948989a1c, llm:description: 'SAGE: Scalable Agentic 3D Scene Generation for Embodied AI' (official code release)
matched fp:5929f09948989a1c, llm:description: 'SAGE: Scalable Agentic 3D Scene Generation for Embodied AI' (official code release)
matched fp:5929f09948989a1c, llm:description: 'SAGE: Scalable Agentic 3D Scene Generation for Embodied AI' (official code release)
matched fp:5929f09948989a1c, llm:description: 'SAGE: Scalable Agentic 3D Scene Generation for Embodied AI' (official code release)