{"id":"https://openalex.org/W4401413701","doi":"https://doi.org/10.1109/icra57147.2024.10610566","title":"Gen2Sim: Scaling up Robot Learning in Simulation with Generative Models","display_name":"Gen2Sim: Scaling up Robot Learning in Simulation with Generative Models","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413701","doi":"https://doi.org/10.1109/icra57147.2024.10610566"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5077243571","display_name":"Pushkal Katara","orcid":"https://orcid.org/0009-0007-4302-6955"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pushkal Katara","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109760526","display_name":"Zhou Xian","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhou Xian","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008661738","display_name":"Katerina Fragkiadaki","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katerina Fragkiadaki","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6672","last_page":"6679"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7344319224357605},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.6233448386192322},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.571245551109314},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.5594002604484558},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5440638661384583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5409870743751526},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3483116626739502},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09773716330528259}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7344319224357605},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.6233448386192322},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.571245551109314},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.5594002604484558},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5440638661384583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5409870743751526},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3483116626739502},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09773716330528259},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320317106","display_name":"Sony","ror":"https://ror.org/04wzv3n59"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":96,"referenced_works":["https://openalex.org/W1569530544","https://openalex.org/W2112961542","https://openalex.org/W2135639338","https://openalex.org/W2158782408","https://openalex.org/W2605102758","https://openalex.org/W2736601468","https://openalex.org/W2913602408","https://openalex.org/W2933283236","https://openalex.org/W2962736495","https://openalex.org/W2981030070","https://openalex.org/W3009928773","https://openalex.org/W3035624836","https://openalex.org/W3042040243","https://openalex.org/W3105162718","https://openalex.org/W3105398283","https://openalex.org/W3137012581","https://openalex.org/W3152331843","https://openalex.org/W3175254947","https://openalex.org/W3190965961","https://openalex.org/W3192479589","https://openalex.org/W3197308999","https://openalex.org/W3213974477","https://openalex.org/W4221151978","https://openalex.org/W4221152848","https://openalex.org/W4281481998","https://openalex.org/W4285428875","https://openalex.org/W4289785095","https://openalex.org/W4292779060","https://openalex.org/W4293566037","https://openalex.org/W4295719664","https://openalex.org/W4298187450","https://openalex.org/W4307307990","https://openalex.org/W4308608246","https://openalex.org/W4311000453","https://openalex.org/W4312933868","https://openalex.org/W4312939545","https://openalex.org/W4378505261","https://openalex.org/W4378505290","https://openalex.org/W4378768661","https://openalex.org/W4379357893","https://openalex.org/W4380993732","https://openalex.org/W4383066118","https://openalex.org/W4383097638","https://openalex.org/W4383108493","https://openalex.org/W4384264726","https://openalex.org/W4385083544","https://openalex.org/W4385373842","https://openalex.org/W4385430588","https://openalex.org/W4385430679","https://openalex.org/W4385473486","https://openalex.org/W4385537219","https://openalex.org/W4386065846","https://openalex.org/W4386065887","https://openalex.org/W4386071618","https://openalex.org/W4386075749","https://openalex.org/W4386075859","https://openalex.org/W4386076018","https://openalex.org/W4386076027","https://openalex.org/W4386285856","https://openalex.org/W4389666465","https://openalex.org/W4390873054","https://openalex.org/W4390873331","https://openalex.org/W4390873542","https://openalex.org/W4390874424","https://openalex.org/W6713184877","https://openalex.org/W6741002519","https://openalex.org/W6745935785","https://openalex.org/W6748256472","https://openalex.org/W6755599844","https://openalex.org/W6765399202","https://openalex.org/W6767372934","https://openalex.org/W6778883912","https://openalex.org/W6780091408","https://openalex.org/W6785179499","https://openalex.org/W6786146360","https://openalex.org/W6786307600","https://openalex.org/W6787056710","https://openalex.org/W6791353385","https://openalex.org/W6798057236","https://openalex.org/W6800004206","https://openalex.org/W6800117431","https://openalex.org/W6803178138","https://openalex.org/W6803923185","https://openalex.org/W6809646742","https://openalex.org/W6838589991","https://openalex.org/W6839928859","https://openalex.org/W6841755765","https://openalex.org/W6842594805","https://openalex.org/W6846375178","https://openalex.org/W6847363464","https://openalex.org/W6850592257","https://openalex.org/W6850804392","https://openalex.org/W6853185838","https://openalex.org/W6853313673","https://openalex.org/W6853352089","https://openalex.org/W6853680119"],"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/W3174044702","https://openalex.org/W2967848559","https://openalex.org/W4299831724"],"abstract_inverted_index":{"Generalist":[0],"robot":[1,16,50,68,183],"manipulators":[2,184],"need":[3],"to":[4,22,27,32,60,107,116,133,136],"learn":[5],"a":[6,63,174,221],"wide":[7],"variety":[8],"of":[9,76,91,124,201,214],"manipulation":[10,227],"skills":[11],"across":[12,52],"diverse":[13,53,158],"environments.":[14,56],"Current":[15],"training":[17],"pipelines":[18],"rely":[19],"on":[20],"humans":[21],"provide":[23],"kinesthetic":[24],"demonstrations":[25],"or":[26],"program":[28],"simulation":[29,72,100],"environments":[30],"and":[31,55,83,93,113,126,142,190,193,196,218],"code":[33],"up":[34,49,67,179],"reward":[35,84,145,169],"functions":[36,85,146,170],"for":[37,65,99,147,157,177,182],"reinforcement":[38,148,163,180],"learning.":[39,149],"Such":[40],"human":[41],"involvement":[42],"is":[43],"an":[44],"important":[45],"bottleneck":[46],"towards":[47,223],"scaling":[48,66,178],"learning":[51,70,155,164,181],"tasks":[54,217],"We":[57,95,150],"propose":[58],"Generation":[59],"Simulation":[61],"(Gen2Sim),":[62],"method":[64],"skill":[69,228],"in":[71,154,185,208,230],"by":[73,101,188,197],"automating":[74],"generation":[75],"3D":[77,97,108],"assets,":[78,128,216],"task":[79,81,138,192,206],"descriptions,":[80,139],"decompositions":[82],"using":[86,109],"large":[87],"pre-trained":[88],"generative":[89],"models":[90,112],"language":[92],"vision.":[94],"generate":[96],"assets":[98],"lifting":[102],"open-world":[103],"2D":[104],"object-centric":[105],"images":[106],"image":[110],"diffusion":[111],"querying":[114],"LLMs":[115,132],"determine":[117],"plausible":[118],"physics":[119],"parameters.":[120],"Given":[121],"URDF":[122],"files":[123],"generated":[125],"human-developed":[127],"we":[129],"chain-of-thought":[130],"prompt":[131],"map":[134],"these":[135],"relevant":[137],"temporal":[140,205],"decompositions,":[141],"corresponding":[143],"python":[144],"show":[151],"Gen2Sim":[152,172],"succeeds":[153],"policies":[156],"long":[159],"horizon":[160],"tasks,":[161],"where":[162],"with":[165],"non":[166],"temporally":[167],"decomposed":[168],"fails.":[171],"provides":[173],"viable":[175],"path":[176],"simulation,":[186],"both":[187],"diversifying":[189],"expanding":[191],"environment":[194],"development,":[195],"facilitating":[198],"the":[199],"discovery":[200],"reinforcement-learned":[202],"behaviors":[203],"through":[204],"decomposition":[207],"RL.":[209],"Our":[210],"work":[211],"contributes":[212],"hundreds":[213],"simulated":[215],"demonstrations,":[219],"taking":[220],"step":[222],"fully":[224],"autonomous":[225],"robotic":[226],"acquisition":[229],"simulation.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":6}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}