Key Features 🔑

• 5000+ objects 1:1 replicated from real-life

Get started 🔥

Download the Assets

To download the full assets, please refer to the official Hugging Face/Modelscope documentation.

Assets Structure

Folder hierarchy

assets
├── background # Background environments
│   └── ...
├── robot # Robot models
│   ├── G1_120s
│   ├── G1_omnipicker
│   ├── G2_omnipicker
│   └── curobo_robot
├── objects # Object assets
│   └── ...
├── interaction # Interaction data
├── real2sim # Real-to-sim assets
│   └── ...
├── external # External assets
├── README.md
└── ...

License and Citation

All the data and code within this repo are under CC BY-NC-SA 4.0. Please consider citing our project if it helps your research.

@misc{yin2026geniesim30,
  title={Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot}, 
  author={Chenghao Yin and Da Huang and Di Yang and Jichao Wang and Nanshu Zhao and Chen Xu and Wenjun Sun and Linjie Hou and Zhijun Li and Junhui Wu and Zhaobo Liu and Zhen Xiao and Sheng Zhang and Lei Bao and Rui Feng and Zhenquan Pang and Jiayu Li and Qian Wang and Maoqing Yao},
  year={2026},
  eprint={2601.02078},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2601.02078}, 
}