{"id":"https://openalex.org/W7128427679","doi":"https://doi.org/10.1109/lra.2026.3662595","title":"ZeroBot: Learning From Scratch in Minutes With Generative Real2Sim","display_name":"ZeroBot: Learning From Scratch in Minutes With Generative Real2Sim","publication_year":2026,"publication_date":"2026-02-09","ids":{"openalex":"https://openalex.org/W7128427679","doi":"https://doi.org/10.1109/lra.2026.3662595"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3662595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662595","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/A5058833302","display_name":"Ivan Kapelyukh","orcid":"https://orcid.org/0000-0001-5587-204X"},"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":true,"raw_author_name":"Ivan Kapelyukh","raw_affiliation_strings":["Robot Learning Laboratory and the Dyson Robotics Laboratory at the Department of Computing, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Robot Learning Laboratory and the Dyson Robotics Laboratory at the Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430876","display_name":"Xi Zhang","orcid":"https://orcid.org/0000-0003-3415-5345"},"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":"Xiaohan Zhang","raw_affiliation_strings":["Robotics and AI Institute, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and AI Institute, Boston, MA, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101652979","display_name":"Stephen James","orcid":"https://orcid.org/0000-0002-3991-0621"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stephen James","raw_affiliation_strings":["Safe Whole-body Intelligent Robotics Laboratory (SWIRL) at the Department of Computing, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Safe Whole-body Intelligent Robotics Laboratory (SWIRL) at the Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084585983","display_name":"Laura Herlant","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":"Laura Herlant","raw_affiliation_strings":["Robotics and AI Institute, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and AI Institute, Boston, MA, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080385974","display_name":"Edward Johns","orcid":"https://orcid.org/0000-0002-8914-8786"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Edward Johns","raw_affiliation_strings":["Robot Learning Laboratory at the Department of Computing, Imperial College London, London, U.K"],"affiliations":[{"raw_affiliation_string":"Robot Learning Laboratory at the Department of Computing, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5058833302"],"corresponding_institution_ids":["https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37735321,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4569","last_page":"4576"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9297000169754028,"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":0.9297000169754028,"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":0.03579999879002571,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.006000000052154064,"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/scratch","display_name":"Scratch","score":0.8440999984741211},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7656999826431274},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6593999862670898},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6484000086784363},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.5974000096321106},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.5376999974250793},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5371999740600586},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5235000252723694}],"concepts":[{"id":"https://openalex.org/C2781235140","wikidata":"https://www.wikidata.org/wiki/Q275131","display_name":"Scratch","level":2,"score":0.8440999984741211},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7656999826431274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.696399986743927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6818000078201294},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6593999862670898},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6484000086784363},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.5974000096321106},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.5376999974250793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5371999740600586},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5235000252723694},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4691999852657318},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.46129998564720154},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.451200008392334},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4449000060558319},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.4271000027656555},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.40450000762939453},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37880000472068787},{"id":"https://openalex.org/C2779542340","wikidata":"https://www.wikidata.org/wiki/Q1062461","display_name":"Learning object","level":2,"score":0.351500004529953},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.3260999917984009},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3052999973297119},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.272599995136261},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.26170000433921814},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.2549999952316284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3662595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662595","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1977655452","https://openalex.org/W2043510487","https://openalex.org/W2049981393","https://openalex.org/W2925241625","https://openalex.org/W2963390419","https://openalex.org/W2968116426","https://openalex.org/W4285021310","https://openalex.org/W4383066118","https://openalex.org/W4383108265","https://openalex.org/W4386025948","https://openalex.org/W4389665359","https://openalex.org/W4401413701","https://openalex.org/W4401416214","https://openalex.org/W4402354160","https://openalex.org/W4402354170","https://openalex.org/W4402754209","https://openalex.org/W4413144615","https://openalex.org/W4413146851","https://openalex.org/W4413925917","https://openalex.org/W4413926091","https://openalex.org/W4416664397"],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"ZeroBot,":[2],"a":[3,8,32,39,52,127],"real2sim":[4,128],"framework":[5,129],"for":[6,42,61,130],"learning":[7],"robot":[9,133],"manipulation":[10],"task":[11],"from":[12],"scratch":[13],"in":[14,59,126],"minutes":[15],"under":[16],"challenging":[17],"conditions:":[18],"zero":[19,22,26],"human":[20],"demonstrations,":[21],"policy":[23],"pre-training,":[24],"and":[25,38,79,100],"known":[27],"object":[28,37,54,98],"models.":[29],"Given":[30],"only":[31],"single":[33],"view":[34],"of":[35,114,122],"an":[36,71,105,110],"goal":[40],"pose":[41],"that":[43],"object,":[44],"ZeroBot":[45,103],"uses":[46],"image-to-3D":[47,124],"generative":[48],"models":[49,125],"to":[50,83],"obtain":[51],"complete":[53],"mesh,":[55],"which":[56,74],"is":[57],"used":[58],"simulation":[60],"large-scale":[62],"parallel":[63],"reinforcement":[64],"learning.":[65,134],"To":[66],"accelerate":[67],"training,":[68],"we":[69],"introduce":[70],"action":[72],"space":[73],"leverages":[75],"the":[76,120],"generated":[77],"geometry":[78],"learned":[80],"value":[81,121],"function":[82],"sample":[84],"states":[85],"involving":[86],"robot-object":[87],"contact.":[88],"When":[89],"evaluated":[90],"on":[91],"real-world":[92],"tasks":[93],"including":[94],"grasping,":[95],"pushing,":[96],"articulated":[97],"interaction,":[99],"multi-stage":[101],"manipulation,":[102],"achieves":[104],"87%":[106],"success":[107],"rate":[108],"with":[109],"average":[111],"training":[112],"time":[113],"119":[115],"seconds.":[116],"These":[117],"results":[118],"show":[119],"using":[123],"rapid,":[131],"autonomous":[132],"Project":[135],"page:":[136],"<uri":[137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">zerobot-rl.github.io</uri>":[139]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-02-10T00:00:00"}