# PhysX-Omni: Unified Simulation-Ready Physical 3D Generation for Rigid, Deformable, and Articulated Objects

arXiv: https://arxiv.org/abs/2605.21572 · HTML: https://mlsanity.com/paper/2605.21572/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 51 references that are in the map.
- First posted on arXiv 20 May 2026.

## Builds on (most cited first, 30 of 48)

- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [Efficient Geometry-aware 3D Generative Adversarial Networks](https://mlsanity.com/paper/2112.07945/) (2021)
- [Structured 3D Latents for Scalable and Versatile 3D Generation](https://mlsanity.com/paper/2412.01506/) (2024)
- [LGM: Large Multi-View Gaussian Model for High-Resolution 3D Content Creation](https://mlsanity.com/paper/2402.05054/) (2024)
- [GET3D: A Generative Model of High Quality 3D Textured Shapes Learned from Images](https://mlsanity.com/paper/2209.11163/) (2022)
- [InstantMesh: Efficient 3D Mesh Generation from a Single Image with Sparse-view Large Reconstruction Models](https://mlsanity.com/paper/2404.07191/) (2024)
- [MeshGPT: Generating Triangle Meshes with Decoder-Only Transformers](https://mlsanity.com/paper/2311.15475/) (2023)
- [PhysDreamer: Physics-Based Interaction with 3D Objects via Video Generation](https://mlsanity.com/paper/2404.13026/) (2024)
- [XCube: Large-Scale 3D Generative Modeling using Sparse Voxel Hierarchies](https://mlsanity.com/paper/2312.03806/) (2023)
- [Native and Compact Structured Latents for 3D Generation](https://mlsanity.com/paper/2512.14692/) (2025)
- [MeshAnything: Artist-Created Mesh Generation with Autoregressive Transformers](https://mlsanity.com/paper/2406.10163/) (2024)
- [URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Images](https://mlsanity.com/paper/2405.11656/) (2024)
- [3DTopia-XL: Scaling High-quality 3D Asset Generation via Primitive Diffusion](https://mlsanity.com/paper/2409.12957/) (2024)
- [Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Model](https://mlsanity.com/paper/2410.13882/) (2024)
- [LLaMA-Mesh: Unifying 3D Mesh Generation with Language Models](https://mlsanity.com/paper/2411.09595/) (2024)
- [PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videos](https://mlsanity.com/paper/2503.17973/) (2025)
- [PartCrafter: Structured 3D Mesh Generation via Compositional Latent Diffusion Transformers](https://mlsanity.com/paper/2506.05573/) (2025)
- [3DTopia: Large Text-to-3D Generation Model with Hybrid Diffusion Priors](https://mlsanity.com/paper/2403.02234/) (2024)
- [SINGAPO: Single Image Controlled Generation of Articulated Parts in Objects](https://mlsanity.com/paper/2410.16499/) (2024)
- [PhysGen3D: Crafting a Miniature Interactive World from a Single Image](https://mlsanity.com/paper/2503.20746/) (2025)
- [OmniPart: Part-Aware 3D Generation with Semantic Decoupling and Structural Cohesion](https://mlsanity.com/paper/2507.06165/) (2025)
- [HoloPart: Generative 3D Part Amodal Segmentation](https://mlsanity.com/paper/2504.07943/) (2025)
- [Large-Vocabulary 3D Diffusion Model with Transformer](https://mlsanity.com/paper/2309.07920/) (2023)
- [Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modeling](https://mlsanity.com/paper/2502.02590/) (2025)
- [MagicArticulate: Make Your 3D Models Articulation-Ready](https://mlsanity.com/paper/2502.12135/) (2025)
- [PhysX-3D: Physical-Grounded 3D Asset Generation](https://mlsanity.com/paper/2507.12465/) (2025)
- [Physically Compatible 3D Object Modeling from a Single Image](https://mlsanity.com/paper/2405.20510/) (2024)

## Built on by (most cited first, 11 of 11)

- [Agentic Real2Sim: Physics-based World Modeling with Vision-Language Agents](https://mlsanity.com/paper/2607.19190/) (2026)
- [Data Pyramid for Embodied Manipulation: A Survey](https://mlsanity.com/paper/2607.24744/) (2026)
- [A Definition and Roadmap for World Models](https://mlsanity.com/paper/2607.06401/) (2026)
- [Apple-π: Benchmarking Thinking with Video Towards Law-Grounded Physical Intelligence](https://mlsanity.com/paper/2607.16401/) (2026)
- [PhysX-CoT: Structured Physical Reasoning from a Single Image to Simulation-Ready 3D Assets](https://mlsanity.com/paper/2608.08053/) (2026)
- [DiagGen: Agentic Generation of Deformable Assets with Sim-based Diagnostics for Robotic Simulation](https://mlsanity.com/paper/2609.23103/) (2026)
- [WorldAgent: Verification-Guided Agentic Physical World Construction](https://mlsanity.com/paper/2609.33208/) (2026)
- [AffordCraft: Scalable Construction of Task-Ready Simulation Assets from Single Images](https://mlsanity.com/paper/2610.06643/) (2026)
- [EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation](https://mlsanity.com/paper/2610.07969/) (2026)
- [Towards Physically Grounded Articulated 3D Assets: A Multi-Agent Pipeline and Benchmark](https://mlsanity.com/paper/2610.13947/) (2026)
- [ViewStruct: View-Grounded Articulation and Connectivity Inference](https://mlsanity.com/paper/2610.16793/) (2026)

## Abstract (arXiv)

Simulation-ready physical 3D assets have emerged as a promising direction owing to their broad applicability in downstream tasks. However, most existing 3D generation methods either neglect physical properties or are limited to a single asset category, e.g., rigid, deformable, or articulated objects. To address these limitations, we introduce PhysX-Omni, a unified framework for simulation-ready physical 3D generation across diverse asset types. Specifically, we develop a novel and efficient geometry representation tailored for Vision-Language Models, which directly encodes high-resolution 3D structures without compression, significantly improving generation performance. In addition, we construct the first general simulation-ready 3D dataset, PhysXVerse, covering diverse indoor and outdoor categories. Furthermore, to comprehensively and flexibly evaluate both generative and understanding capabilities in the wild, we propose PhysX-Bench, which encompasses six key attributes: geometry, absolute scale, material, affordance, kinematics, and function description. Extensive experiments with conventional metrics and PhysX-Bench show that PhysX-Omni performs strongly in both generation and understanding. Moreover, additional studies further validate the potential of PhysX-Omni for applications in simulation-ready scene generation and robotic policy learning. We believe PhysX-Omni can significantly advance a wide range of downstream applications, particularly in embodied AI and physics-based simulation.