{"id":"https://openalex.org/W4416750344","doi":"https://doi.org/10.1109/iros60139.2025.11247559","title":"DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments","display_name":"DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750344","doi":"https://doi.org/10.1109/iros60139.2025.11247559"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5102635978","display_name":"Yufei Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yufei Jia","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100458580","display_name":"Guangyu Wang","orcid":"https://orcid.org/0009-0000-5674-2642"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyu Wang","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088927833","display_name":"Yuhang Dong","orcid":"https://orcid.org/0009-0006-8974-8905"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhang Dong","raw_affiliation_strings":["Zhejiang University"],"affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059622825","display_name":"Jinfu Wu","orcid":"https://orcid.org/0000-0002-0989-0105"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhe Wu","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085866532","display_name":"Yushan Zeng","orcid":"https://orcid.org/0000-0001-5668-506X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yupei Zeng","raw_affiliation_strings":["Zhejiang University"],"affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102702852","display_name":"Haonan Lin","orcid":"https://orcid.org/0009-0003-8768-343X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haonan Lin","raw_affiliation_strings":["Huazhong University of Science and Technology"],"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101622957","display_name":"Zifan Wang","orcid":"https://orcid.org/0000-0002-8961-4302"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zifan Wang","raw_affiliation_strings":["Hong Kong University of Science and Technology (Guangzhou)","Tongji University"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (Guangzhou)","institution_ids":[]},{"raw_affiliation_string":"Tongji University","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091740134","display_name":"Huiyao Ge","orcid":"https://orcid.org/0000-0002-4928-1777"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haizhou Ge","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074701231","display_name":"Weibin Gu","orcid":"https://orcid.org/0000-0002-5083-9408"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibin Gu","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102641336","display_name":"Kairui Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kairui Ding","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100770893","display_name":"Zike Yan","orcid":"https://orcid.org/0000-0002-9865-2060"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zike Yan","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038184998","display_name":"Yunjie Cheng","orcid":"https://orcid.org/0000-0002-5780-6772"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjie Cheng","raw_affiliation_strings":["Xi’an Jiaotong University"],"affiliations":[{"raw_affiliation_string":"Xi’an Jiaotong University","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387831","display_name":"Yue Li","orcid":"https://orcid.org/0000-0002-9594-5802"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yue Li","raw_affiliation_strings":["DISCOVER Robotics"],"affiliations":[{"raw_affiliation_string":"DISCOVER Robotics","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451882","display_name":"Ziming Wang","orcid":"https://orcid.org/0000-0002-3118-8742"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziming Wang","raw_affiliation_strings":["Hong Kong University of Science and Technology (Guangzhou)","Tongji University"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (Guangzhou)","institution_ids":[]},{"raw_affiliation_string":"Tongji University","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103181534","display_name":"Chuxuan Li","orcid":"https://orcid.org/0000-0001-7759-0377"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuxuan Li","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057006006","display_name":"Wei Sui","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Sui","raw_affiliation_strings":["D-Robotics"],"affiliations":[{"raw_affiliation_string":"D-Robotics","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101529206","display_name":"Lu Shi","orcid":"https://orcid.org/0009-0004-2624-2240"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Shi","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014432572","display_name":"Guanzhong Tian","orcid":"https://orcid.org/0000-0002-7292-4056"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanzhong Tian","raw_affiliation_strings":["Zhejiang University"],"affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113395530","display_name":"Ruqi Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruqi Huang","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011913905","display_name":"Guyue Zhou","orcid":"https://orcid.org/0000-0002-3894-9858"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guyue Zhou","raw_affiliation_strings":["Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":20,"corresponding_author_ids":["https://openalex.org/A5102635978"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.1617,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.8449031,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6272","last_page":"6279"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3589000105857849,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3589000105857849,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.16869999468326569,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.08590000122785568,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6546000242233276},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5184999704360962},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.46720001101493835},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.3472999930381775},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.3434999883174896},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.2969000041484833},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.29589998722076416}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7142999768257141},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6546000242233276},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5184999704360962},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.46720001101493835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46140000224113464},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.3472999930381775},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3434999883174896},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3301999866962433},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3176000118255615},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2969000041484833},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.29589998722076416},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2888000011444092},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28870001435279846},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2874000072479248},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2833000123500824},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2759000062942505},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.26510000228881836},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2635999917984009}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247559","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1755205674","https://openalex.org/W1987648924","https://openalex.org/W2049981393","https://openalex.org/W2158782408","https://openalex.org/W2235901111","https://openalex.org/W2519683295","https://openalex.org/W2961368225","https://openalex.org/W2964339842","https://openalex.org/W2998903229","https://openalex.org/W3009928773","https://openalex.org/W3035624836","https://openalex.org/W3109908659","https://openalex.org/W3152331843","https://openalex.org/W3176814369","https://openalex.org/W4229456580","https://openalex.org/W4280571816","https://openalex.org/W4313017495","https://openalex.org/W4316661152","https://openalex.org/W4367016688","https://openalex.org/W4382362889","https://openalex.org/W4385318467","https://openalex.org/W4385430674","https://openalex.org/W4390873054","https://openalex.org/W4400822286","https://openalex.org/W4402703084","https://openalex.org/W4402951629","https://openalex.org/W4403337227","https://openalex.org/W4404525393","https://openalex.org/W4404971322","https://openalex.org/W4410706720","https://openalex.org/W4411336703","https://openalex.org/W4413146851","https://openalex.org/W4413917236","https://openalex.org/W4413947056"],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"Discoverse,":[2],"the":[3,32,38],"first":[4],"unified,":[5],"modular,":[6],"open-source":[7],"3DGS-based":[8],"simulation":[9,51],"framework":[10],"for":[11,34,62],"Real2Sim2Real":[12],"robot":[13,66,73],"learning.":[14],"It":[15],"features":[16],"a":[17],"holistic":[18],"Real2Sim":[19],"pipeline":[20],"that":[21],"synthesizes":[22],"hyper-realistic":[23],"geometry":[24],"and":[25,36,45,56,68,75,99],"appearance":[26],"of":[27,52],"complex":[28,76],"real-world":[29],"scenarios,":[30],"paving":[31],"way":[33],"analyzing":[35],"bridging":[37],"Sim2Real":[39,90],"gap.":[40],"Powered":[41],"by":[42],"Gaussian":[43],"Splatting":[44],"MuJoCo,":[46],"Discoverse":[47],"enables":[48],"massively":[49],"parallel":[50],"multiple":[53],"sensor":[54],"modalities":[55],"accurate":[57],"physics,":[58],"with":[59],"inclusive":[60],"supports":[61],"existing":[63,95],"3D":[64],"assets,":[65],"models,":[67],"ROS":[69],"plugins,":[70],"empowering":[71],"large-scale":[72],"learning":[74],"robotic":[77],"benchmarks.":[78],"Through":[79],"extensive":[80],"experiments":[81],"on":[82],"imitation":[83],"learning,":[84],"Dis":[85],"coverse":[86],"demonstrates":[87],"state-of-the-art":[88],"zero-shot":[89],"transfer":[91],"performance":[92],"compared":[93],"to":[94],"simulators.":[96],"For":[97],"code":[98],"demos:":[100],"https://air-discoverse.github.io/.":[101]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}