Research Platform
Lingjing
A city-scale platform for heterogeneous embodied intelligence.
Lingjing connects simulators, agents, shared world state and evaluation for open-ended urban missions. PhysX-CoT and AnyScene expand the platform with asset and scene intelligence.
Platform Overview
One platform, three research efforts
Lingjing
Multi-engine simulation, shared world state, heterogeneous agent coordination, and evaluation at city scale.
View details →PhysX-CoT
Converts images into structured, simulator-ready physical objects with geometry, parts, and articulation.
View details →AnyScene
Turns real-world places and mission contracts into validated, executable task environments.
View details →
Embodied Intelligence System
Lingjing
A shared world for heterogeneous agents and open-ended missions.
Lingjing: A Simulation Testbed for Multi-Agent Embodied Tasks in Open-Ended Cities
System-level result
Execution from the Lingjing testbed
Agents perceive, decide, communicate and act in a shared city-scale world.
Download MP4
Guidance & Execution
UAV-guided pipeline inspection
Aerial agent observes infrastructure and exposes a grounded target for the ground robot.
UAV + Quadruped
Emergency Response
Multi-robot fire response
Ground robots share an industrial scene while inspection and response roles execute.
Quadruped Team
City Mobility
Traffic observation & route planning
Aerial view exposes congestion; the road agent plans a route over shared city state.
UAV + Vehicle
Search & Rescue
Sea search with vessel pickup
Airborne search and maritime response represented in one mission-level environment.
UAV + VesselAsset Intelligence
PhysX-CoT
Supplies reusable physical objects to the Lingjing world.
PhysX-CoT: Structured Physical Reasoning from a Single Image to Simulation-Ready 3D Assets
When Lingjing needs a physical object, PhysX-CoT converts an image into structured geometry, part semantics, material and articulation information, plus engine-ready files.
Articulated Asset
Headphones
Seven recovered part groups with textured surfaces and revolute joint metadata.
Download GLBArticulated Asset
Office Chair
Part decomposition preserves seat, back, base and supports for manipulation.
Download GLBObject-level · 12s
Robot Interaction
The generated object is located and lifted inside simulation.
Scene-level · 11s
Physical Response
Multiple generated assets respond together to a scene-level force.
Scene Intelligence
Lingjing-AnyScene
Supplies validated task environments to the Lingjing runtime.
AnyScene observes a real-world substrate, acquires task-local assets, writes placements, runs physics and visual audits, then exports a portable scene package that Lingjing can execute.
Case 01 · Fire Response
Emergency equipment staged on a Melbourne road slice
Acquires 6 task-specific categories, places 14 instances, passes physical and guide checks.
Case 02 · Visual Navigation
Checkpoints and charging return for a quadruped
Converts a navigation contract into beacons, barriers, signs and support equipment.
Selected Task-Local Assets
Fire extinguisher
Hose reel
Traffic cone
Waypoint beacon
Barrier panel
Charging dock
Papers & Resources
Publications and code
Lingjing
Lingjing: A Simulation Testbed for Multi-Agent Embodied Tasks in Open-Ended Cities
PhysX-CoT
PhysX-CoT: Structured Physical Reasoning from a Single Image to Simulation-Ready 3D Assets
Lingjing-AnyScene
Mission-conditioned task scene construction