{"id":"https://openalex.org/W4383097608","doi":"https://doi.org/10.1109/icra48891.2023.10160861","title":"WorldGen: A Large Scale Generative Simulator","display_name":"WorldGen: A Large Scale Generative Simulator","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097608","doi":"https://doi.org/10.1109/icra48891.2023.10160861"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067776602","display_name":"Chahat Deep Singh","orcid":"https://orcid.org/0000-0002-9972-5559"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chahat Deep Singh","raw_affiliation_strings":["University of Maryland Institute for Advanced Computer Studies, University of Maryland,Perception and Robotics Group,College Park,MD,USA,20742"],"affiliations":[{"raw_affiliation_string":"University of Maryland Institute for Advanced Computer Studies, University of Maryland,Perception and Robotics Group,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090155278","display_name":"Riya Kumari","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Riya Kumari","raw_affiliation_strings":["University of Maryland Institute for Advanced Computer Studies, University of Maryland,Perception and Robotics Group,College Park,MD,USA,20742"],"affiliations":[{"raw_affiliation_string":"University of Maryland Institute for Advanced Computer Studies, University of Maryland,Perception and Robotics Group,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083553427","display_name":"Cornelia Ferm\u00fcller","orcid":"https://orcid.org/0000-0003-2044-2386"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cornelia Ferm\u00fcller","raw_affiliation_strings":["University of Maryland Institute for Advanced Computer Studies, University of Maryland,Perception and Robotics Group,College Park,MD,USA,20742"],"affiliations":[{"raw_affiliation_string":"University of Maryland Institute for Advanced Computer Studies, University of Maryland,Perception and Robotics Group,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055752014","display_name":"Nitin J. Sanket","orcid":"https://orcid.org/0000-0001-9681-7602"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nitin J. Sanket","raw_affiliation_strings":["Worcester Polytechnic Institute,Robotics Engineering,MA,USA,01609"],"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Robotics Engineering,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036912867","display_name":"Yiannis Aloimonos","orcid":"https://orcid.org/0000-0002-8152-4281"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiannis Aloimonos","raw_affiliation_strings":["University of Maryland Institute for Advanced Computer Studies, University of Maryland,Perception and Robotics Group,College Park,MD,USA,20742"],"affiliations":[{"raw_affiliation_string":"University of Maryland Institute for Advanced Computer Studies, University of Maryland,Perception and Robotics Group,College Park,MD,USA,20742","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5067776602"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":0.6149,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68901025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"9147","last_page":"9154"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8108682632446289},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6427697539329529},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6342104077339172},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5454781651496887},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5207452774047852},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4703265428543091},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4676622450351715},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.46560341119766235},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.456874281167984},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.45479917526245117},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.44834229350090027},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4317961633205414},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.426065057516098},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.41279780864715576},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.13172242045402527}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8108682632446289},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6427697539329529},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6342104077339172},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5454781651496887},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5207452774047852},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4703265428543091},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4676622450351715},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.46560341119766235},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.456874281167984},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.45479917526245117},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.44834229350090027},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4317961633205414},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.426065057516098},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.41279780864715576},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.13172242045402527},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G1745932399","display_name":null,"funder_award_id":"OISE 2020624","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8166815239","display_name":null,"funder_award_id":"N00014-17-1-2622,SMA 1540917","funder_id":"https://openalex.org/F4320308204","funder_display_name":"Northrop Grumman"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306533","display_name":"University of Maryland Foundation","ror":"https://ror.org/01r0c1p88"},{"id":"https://openalex.org/F4320308204","display_name":"Northrop Grumman","ror":"https://ror.org/05kewds18"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W169158813","https://openalex.org/W764651262","https://openalex.org/W1513100184","https://openalex.org/W1608643120","https://openalex.org/W1861492603","https://openalex.org/W2104974755","https://openalex.org/W2259424905","https://openalex.org/W2467838519","https://openalex.org/W2615547864","https://openalex.org/W2735974062","https://openalex.org/W2737368828","https://openalex.org/W2786318586","https://openalex.org/W2789435382","https://openalex.org/W2813817099","https://openalex.org/W2889976030","https://openalex.org/W2914859139","https://openalex.org/W2948678865","https://openalex.org/W2950533208","https://openalex.org/W2961343177","https://openalex.org/W2963782415","https://openalex.org/W2963826402","https://openalex.org/W2964206852","https://openalex.org/W2964317599","https://openalex.org/W3000211808","https://openalex.org/W3004212813","https://openalex.org/W3011524659","https://openalex.org/W3034469298","https://openalex.org/W3089529768","https://openalex.org/W3091146474","https://openalex.org/W3101118898","https://openalex.org/W3109908659","https://openalex.org/W3125028070","https://openalex.org/W3125675327","https://openalex.org/W3143095007","https://openalex.org/W3173280621","https://openalex.org/W3175558068","https://openalex.org/W3175647732","https://openalex.org/W3188021906","https://openalex.org/W3190215236","https://openalex.org/W3202871755","https://openalex.org/W3203887644","https://openalex.org/W3205782382","https://openalex.org/W3207490987","https://openalex.org/W3209765350","https://openalex.org/W3215023725","https://openalex.org/W4200150166","https://openalex.org/W4226285067","https://openalex.org/W4247043502","https://openalex.org/W4285102264","https://openalex.org/W4292828931","https://openalex.org/W4295719664","https://openalex.org/W4312339971","https://openalex.org/W4312340030","https://openalex.org/W4312433568","https://openalex.org/W4312593850","https://openalex.org/W4312713450","https://openalex.org/W4394665111","https://openalex.org/W4394671432","https://openalex.org/W6639102338","https://openalex.org/W6687484953","https://openalex.org/W6719727587","https://openalex.org/W6720690900","https://openalex.org/W6745935785","https://openalex.org/W6762770284","https://openalex.org/W6775583579","https://openalex.org/W6780559895","https://openalex.org/W6797855419","https://openalex.org/W6799560697","https://openalex.org/W6810283507","https://openalex.org/W6810865246","https://openalex.org/W6864332406"],"related_works":["https://openalex.org/W4365211920","https://openalex.org/W3014948380","https://openalex.org/W4380551139","https://openalex.org/W4317695495","https://openalex.org/W4287117424","https://openalex.org/W4387506531","https://openalex.org/W4238433571","https://openalex.org/W2967848559","https://openalex.org/W4299831724","https://openalex.org/W4283803360"],"abstract_inverted_index":{"In":[0],"the":[1,8,13,62,111,134,138,142],"era":[2],"of":[3,15,51,57,64,144,165],"deep":[4,148],"learning,":[5],"data":[6,59,135],"is":[7],"critical":[9],"determining":[10],"factor":[11],"in":[12,137,162],"performance":[14],"neural":[16],"network":[17,65],"models.":[18],"Generating":[19],"large":[20],"datasets":[21],"suffers":[22],"from":[23],"various":[24],"challenges":[25],"such":[26,88,119,153],"as":[27,89,120],"scalability,":[28],"cost":[29,178],"efficiency":[30],"and":[31,36,40,53,83,94,115,126,170,177,182],"photorealism.":[32],"To":[33,67],"avoid":[34],"expensive":[35],"strenuous":[37],"dataset":[38],"collection":[39],"annotations,":[41],"researchers":[42],"have":[43],"inclined":[44],"towards":[45],"computer-generated":[46],"datasets.":[47],"However,":[48],"a":[49,54,107,154,163],"lack":[50],"photorealism":[52],"limited":[55],"amount":[56],"computer-aided":[58],"has":[60],"bounded":[61],"accuracy":[63],"predictions.":[66],"this":[68],"end,":[69],"we":[70],"present":[71],"WorldGen":[72,105,145],"-":[73],"an":[74],"open":[75,157],"source":[76],"framework":[77],"to":[78,117,168],"automatically":[79],"generate":[80],"countless":[81],"structured":[82],"unstructured":[84],"3D":[85],"photorealistic":[86],"scenes":[87],"city":[90],"view,":[91],"object":[92,95,122],"collection,":[93],"fragmentation":[96],"along":[97],"with":[98],"its":[99],"rich":[100,181],"ground":[101],"truth":[102],"annotation":[103],"data.":[104,184],"being":[106],"generative":[108],"model":[109],"gives":[110],"user":[112],"full":[113],"access":[114],"control":[116],"features":[118],"texture,":[121],"structure,":[123],"motion,":[124],"camera":[125],"lens":[127],"properties":[128],"for":[129,159,179],"better":[130],"generalizability":[131],"by":[132,146,173],"diminishing":[133],"bias":[136],"network.":[139],"We":[140,151],"demonstrate":[141],"effectiveness":[143],"evaluating":[147],"optical":[149],"flow.":[150],"hope":[152],"tool":[155],"can":[156],"doors":[158],"future":[160],"research":[161],"myriad":[164],"domains":[166],"related":[167],"robotics":[169],"computer":[171],"vision":[172],"reducing":[174],"manual":[175],"labor":[176],"acquiring":[180],"high-quality":[183]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}