{"id":"https://openalex.org/W4367016688","doi":"https://doi.org/10.1109/lra.2023.3270034","title":"Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments","display_name":"Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments","publication_year":2023,"publication_date":"2023-04-25","ids":{"openalex":"https://openalex.org/W4367016688","doi":"https://doi.org/10.1109/lra.2023.3270034"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3270034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3270034","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5019702488","display_name":"Mayank Mittal","orcid":"https://orcid.org/0000-0002-7881-3744"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["CH","US"],"is_corresponding":true,"raw_author_name":"Mayank Mittal","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109121699","display_name":"Calvin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Calvin Yu","raw_affiliation_strings":["Vector Institute, University of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Vector Institute, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088245231","display_name":"Qinxi Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Qinxi Yu","raw_affiliation_strings":["Vector Institute, University of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Vector Institute, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027500343","display_name":"Jingzhou Liu","orcid":"https://orcid.org/0009-0008-5890-7891"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jingzhou Liu","raw_affiliation_strings":["Vector Institute, University of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Vector Institute, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027377212","display_name":"Nikita Rudin","orcid":"https://orcid.org/0000-0001-5893-0348"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Nikita Rudin","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046670804","display_name":"David Hoeller","orcid":"https://orcid.org/0000-0001-8010-9011"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"David Hoeller","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054914923","display_name":"Jia Lin Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jia Lin Yuan","raw_affiliation_strings":["Vector Institute, University of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Vector Institute, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056045969","display_name":"Ritvik Singh","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ritvik Singh","raw_affiliation_strings":["Vector Institute, University of Toronto, Toronto, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Vector Institute, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102864119","display_name":"Yunrong Guo","orcid":"https://orcid.org/0000-0001-7468-6162"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yunrong Guo","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033558654","display_name":"Hammad Mazhar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hammad Mazhar","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026180478","display_name":"Ajay Mandlekar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ajay Mandlekar","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014223326","display_name":"B. N. Babich","orcid":"https://orcid.org/0000-0002-9252-8747"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Buck Babich","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037666156","display_name":"Gavriel State","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gavriel State","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["Vector Institute, University of Toronto, Toronto, ON, Canada","NVIDIA, Santa Clara, CA, USA"],"affiliations":[{"raw_affiliation_string":"Vector Institute, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]},{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":15,"corresponding_author_ids":["https://openalex.org/A5019702488"],"corresponding_institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210127875"],"apc_list":null,"apc_paid":null,"fwci":38.3459,"has_fulltext":false,"cited_by_count":212,"citation_normalized_percentile":{"value":0.99952857,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"6","first_page":"3740","last_page":"3747"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.6789467334747314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5593478679656982},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5578427314758301},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5249699950218201},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4870908260345459},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.14337369799613953}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6789467334747314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5593478679656982},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5578427314758301},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5249699950218201},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4870908260345459},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.14337369799613953},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3270034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3270034","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W2037841262","https://openalex.org/W2050513283","https://openalex.org/W2066379939","https://openalex.org/W2112961542","https://openalex.org/W2115513040","https://openalex.org/W2158782408","https://openalex.org/W2615547864","https://openalex.org/W2736601468","https://openalex.org/W2901136733","https://openalex.org/W2911087563","https://openalex.org/W2947198853","https://openalex.org/W2949830259","https://openalex.org/W2962936820","https://openalex.org/W2963912340","https://openalex.org/W2981344907","https://openalex.org/W3003629310","https://openalex.org/W3007769740","https://openalex.org/W3009928773","https://openalex.org/W3035624836","https://openalex.org/W3042040243","https://openalex.org/W3088304681","https://openalex.org/W3105162718","https://openalex.org/W3138392552","https://openalex.org/W3140178043","https://openalex.org/W3176814369","https://openalex.org/W3187722890","https://openalex.org/W3190215236","https://openalex.org/W3201888924","https://openalex.org/W3211982974","https://openalex.org/W3213974477","https://openalex.org/W3216772467","https://openalex.org/W4213447533","https://openalex.org/W4283788634","https://openalex.org/W4286963241","https://openalex.org/W4287112297","https://openalex.org/W4288267481","https://openalex.org/W4297830661","https://openalex.org/W4320165654","https://openalex.org/W6741002519","https://openalex.org/W6755243447","https://openalex.org/W6756486208","https://openalex.org/W6764040762","https://openalex.org/W6766433728","https://openalex.org/W6769596995","https://openalex.org/W6780091408","https://openalex.org/W6782766965","https://openalex.org/W6785618536","https://openalex.org/W6797065961","https://openalex.org/W6799150178","https://openalex.org/W6799560697","https://openalex.org/W6800004206","https://openalex.org/W6801457259","https://openalex.org/W6801964084","https://openalex.org/W6804601995","https://openalex.org/W6849915793"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W2086519370","https://openalex.org/W2028665553","https://openalex.org/W2045236383","https://openalex.org/W3088304681"],"abstract_inverted_index":{"We":[0,174],"present":[1],"<sc":[2,16,44,94],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[3,17,45,95],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Orbit</small>":[4,46,96],",":[5,47],"a":[6,23,50,113],"unified":[7],"and":[8,28,36,39,62,78,84,91,102,146,169,171,184,194],"modular":[9,24],"framework":[10,127],"for":[11,191],"robot":[12],"learning":[13,100,150],"powered":[14],"by":[15,117],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Nvidia</small>":[18],"Isaac":[19],"Sim.":[20],"It":[21],"offers":[22],"design":[25],"to":[26,65,148,157],"easily":[27,189],"efficiently":[29],"create":[30],"robotic":[31,133],"environments":[32],"with":[33,75,87,131],"photo-realistic":[34],"scenes":[35],"high-fidelity":[37],"rigid":[38],"deformable":[40],"body":[41],"simulation.":[42],"With":[43,152],"we":[48,81,123,155],"provide":[49],"suite":[51],"of":[52,55,115],"benchmark":[53,144],"tasks":[54,67,193],"varying":[56],"difficulty\u2013":[57],"from":[58,107],"single-stage":[59],"cabinet":[60],"opening":[61],"cloth":[63],"folding":[64],"multi-stage":[66],"such":[68],"as":[69],"room":[70],"reorganization.":[71],"To":[72],"support":[73,158],"working":[74],"diverse":[76],"observations":[77],"action":[79],"spaces,":[80],"include":[82],"fixed-arm":[83],"mobile":[85],"manipulators":[86],"different":[88],"physically-based":[89],"sensors":[90],"motion":[92,139,172],"generators.":[93],"allows":[97],"training":[98],"reinforcement":[99,165],"policies":[101],"collecting":[103],"large":[104],"demonstration":[105],"datasets":[106],"hand-crafted":[108],"or":[109],"expert":[110],"solutions":[111],"in":[112,181,196],"matter":[114],"minutes":[116],"leveraging":[118],"GPU-based":[119],"parallelization.":[120],"In":[121],"summary,":[122],"offer":[124],"an":[125],"open-sourced":[126],"that":[128],"readily":[129],"comes":[130],"16":[132],"platforms,":[134],"4":[135,149],"sensor":[136],"modalities,":[137],"10":[138],"generators,":[140],"more":[141,192],"than":[142],"20":[143],"tasks,":[145],"wrappers":[147],"libraries.":[151],"this":[153],"framework,":[154],"aim":[156],"various":[159],"research":[160],"areas,":[161],"including":[162],"representation":[163],"learning,":[164,166,168],"imitation":[167],"task":[170],"planning.":[173],"hope":[175],"it":[176,188],"helps":[177],"establish":[178],"interdisciplinary":[179],"collaborations":[180],"these":[182],"communities,":[183],"its":[185],"modularity":[186],"makes":[187],"extensible":[190],"applications":[195],"the":[197],"future.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":21},{"year":2025,"cited_by_count":143},{"year":2024,"cited_by_count":40},{"year":2023,"cited_by_count":8}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
