Uranus: Building the Next-Generation Simulation Infrastructure for Embodied AI

TL;DR - Uranus is a data-driven robot simulator that uses a joint-trajectory-conditioned autoregressive diffusion model for continuous visual rollouts. It aims to make robot data generation, policy training, and evaluation faster and more scalable across different embodiments and camera setups.

• Supports streaming, open-ended simulation by generating one latent frame per control step, corresponding to four RGB frames, without a fixed rollout horizon.
• Achieves 24 FPS after inference optimization for low-latency generation.
• Provides a unified interface for synchronized multi-view generation across diverse robots and camera configurations.
• Includes in- and out-of-distribution evaluations, explicitly documents current limitations, and releases code and model weights.