{"id":"https://openalex.org/W7164555577","doi":"https://doi.org/10.48550/arxiv.2606.12936","title":"Pipette: An Embodied Simulation Platform, Benchmark, and Data-Efficient Augmentation Framework for Wet-Lab Robotics","display_name":"Pipette: An Embodied Simulation Platform, Benchmark, and Data-Efficient Augmentation Framework for Wet-Lab Robotics","publication_year":2026,"publication_date":"2026-06-11","ids":{"openalex":"https://openalex.org/W7164555577","doi":"https://doi.org/10.48550/arxiv.2606.12936"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.12936","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.12936","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.12936","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138496399","display_name":"Zhe Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Zhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135885319","display_name":"Huanbo Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Huanbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135881463","display_name":"Zhaohui Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Zhaohui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138504716","display_name":"Zhe Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138501008","display_name":"He Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Dongzhan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138532449","display_name":"Peijia Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pan, Minting","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138544997","display_name":"Jiaming Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, He","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138530683","display_name":"Quan Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Peijia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138516019","display_name":"Qi Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Jiaming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104175557","display_name":"Boyuan Ji","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Quan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138491504","display_name":"Ting Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Qi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Ji, Bin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ji, Bin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Xiao, Ting","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiao, Ting","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.2547000050544739,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.2547000050544739,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.18770000338554382,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0771000012755394,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/usable","display_name":"USable","score":0.8399999737739563},{"id":"https://openalex.org/keywords/pipette","display_name":"Pipette","score":0.7791000008583069},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7421000003814697},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5989000201225281},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.589900016784668},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5789999961853027},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5180000066757202},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.48190000653266907}],"concepts":[{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.8399999737739563},{"id":"https://openalex.org/C151552171","wikidata":"https://www.wikidata.org/wiki/Q163373","display_name":"Pipette","level":2,"score":0.7791000008583069},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7421000003814697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6543999910354614},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5989000201225281},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.589900016784668},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5789999961853027},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5633000135421753},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5180000066757202},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.48190000653266907},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.4787999987602234},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4763999879360199},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4260999858379364},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.34360000491142273},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3237000107765198},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.3215999901294708},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.3091000020503998},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3068999946117401},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.28299999237060547},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2745000123977661},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.26269999146461487},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.12936","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.12936","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.12936","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.12936","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Wet-lab":[0],"robots":[1],"can":[2],"improve":[3],"the":[4,188,208],"reproducibility,":[5],"throughput,":[6],"and":[7,21,29,48,61,77,82,98,121,124,157,181,196,204],"safety":[8],"of":[9,103,190],"biomedical":[10],"experiments,":[11],"but":[12],"scaling":[13],"their":[14],"learning":[15],"requires":[16],"customizable":[17],"simulators":[18],"for":[19,52,75,92,192,210],"safe":[20],"reproducible":[22],"task":[23,93,130,205],"generation,":[24,81],"open":[25],"editable":[26],"laboratory":[27],"assets,":[28],"efficient":[30],"pipelines":[31],"that":[32],"turn":[33],"limited":[34,139],"demonstrations":[35,114,163],"into":[36],"usable":[37,135],"training":[38,136,195],"data.":[39],"We":[40,142],"present":[41],"Pipette,":[42],"an":[43,66],"embodied":[44,148],"simulation":[45,90,173],"platform,":[46],"benchmark,":[47],"data-efficient":[49,193],"augmentation":[50,109,174],"framework":[51],"wet-lab":[53,63,147,216],"robot":[54],"learning.":[55],"Pipette":[56,104,191,198],"provides":[57],"over":[58],"100":[59],"open-source":[60],"re-editable":[62],"assets":[64],"through":[65,87],"extensible":[67],"asset-building":[68],"pipeline":[69],"with":[70,128],"built-in":[71],"Tencent":[72],"Hunyuan":[73],"support":[74],"text-":[76],"image-conditioned":[78],"3D":[79],"asset":[80],"supports":[83,200],"three":[84],"robotic-arm":[85],"embodiments":[86],"a":[88,145],"unified":[89],"interface":[91],"construction,":[94],"data":[95,108,137],"collection,":[96],"augmentation,":[97],"evaluation.":[99,197],"A":[100],"key":[101],"component":[102],"is":[105],"its":[106],"simulation-based":[107],"pipeline,":[110],"which":[111],"replays":[112],"human":[113],"in":[115],"simulation,":[116],"applies":[117],"lighting,":[118],"camera,":[119],"speed,":[120],"action":[122],"perturbations,":[123],"filters":[125],"generated":[126],"episodes":[127],"automatic":[129],"success":[131,170],"checks,":[132],"rapidly":[133],"expanding":[134],"from":[138,177,183],"manual":[140],"demonstrations.":[141],"further":[143],"introduce":[144],"12-task":[146],"benchmark":[149],"covering":[150],"sample":[151],"handling,":[152],"culture-ware":[153],"manipulation,":[154],"device":[155],"operation,":[156],"precision":[158],"placement.":[159],"With":[160],"only":[161],"30":[162],"per":[164],"task,":[165],"ACT":[166],"achieves":[167],"60.3%":[168],"average":[169],"rate,":[171],"while":[172],"improves":[175],"SmolVLA":[176],"40.4%":[178],"to":[179,185,213],"71.8%":[180],"pi0":[182],"37.3%":[184],"44.1%,":[186],"validating":[187],"effectiveness":[189],"VLA":[194],"also":[199],"natural-language-driven":[201],"scene":[202],"construction":[203],"registration,":[206],"lowering":[207],"barrier":[209],"non-expert":[211],"users":[212],"define":[214],"new":[215],"robotic":[217],"tasks":[218]},"counts_by_year":[],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2026-06-13T00:00:00"}