EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation

Y. Qin, Y. Deng, M. Liang, W. Song, Z. Lin, Z. Jiang, J. Fu, Q. Sun, H. Lei, X. Gong, J. Chen, H. Zhao, S. Bai, P. Ding, P. Wang, H. Li

EmbodiedSmith unifies asset, scene, and task generation in simulation through a recursive self-improvement loop, supporting mobile manipulators, humanoids, dexterous hands, and complex physical interactions.