robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

25 September 2020

Yuke Zhu

J. Wong

Ajay Mandlekar

Roberto Martín-Martín

Abhishek Joshi

Soroush Nasiriany

Yifeng Zhu

Soroush Nasiriany

Yifeng Zhu

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Papers citing "robosuite: A Modular Simulation Framework and Benchmark for Robot Learning"

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Title
AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation Meenal Parakh Alexandre Kirchmeyer Beining Han Jia Deng LM&Ro 9 0 0 21 May 2025
NavBench: A Unified Robotics Benchmark for Reinforcement Learning-Based Autonomous Navigation Matteo El Hariry Antoine Richard Ricard M. Castan Luis F W Batista Matthieu Geist C´edric Pradalier Miguel Olivares-Mendez OffRL 12 0 0 20 May 2025
TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation Hangyu Li Qin Zhao Haoran Xu Xinyu Jiang Qingwei Ben ... Jia Zeng Hanqing Wang Bo Dai Junting Dong Jiangmiao Pang 24 0 0 19 May 2025
FlowDreamer: A RGB-D World Model with Flow-based Motion Representations for Robot Manipulation Jun Guo Xiaojian Ma Yikai Wang Min Yang Huaping Liu Qing Li VGen 34 0 0 15 May 2025
Infinigen-Sim: Procedural Generation of Articulated Simulation Assets Abhishek Joshi Beining Han Jack Nugent Yiming Zuo Jing Liu ... Tao Sun Alexander R. E. Raistrick Gaowen Liu Yi Shao Jia Deng VGen 34 0 0 15 May 2025
ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation Enyu Zhao Vedant Raval Hejia Zhang Jiageng Mao Zeyu Shangguan Stefanos Nikolaidis Yue Wang Daniel Seita LM&Ro CoGe 53 0 0 14 May 2025
Adaptive Wiping: Adaptive contact-rich manipulation through few-shot imitation learning with Force-Torque feedback and pre-trained object representations Chikaha Tsuji Enrique Coronado Pablo Osorio G. Venture 29 0 0 09 May 2025
Null Counterfactual Factor Interactions for Goal-Conditioned Reinforcement Learning Caleb Chuck Fan Feng Carl Qi Chang Shi Siddhant Agarwal Amy Zhang S. Niekum 47 0 0 06 May 2025
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks Beining Han Abhishek Joshi Jia Deng 39 0 0 05 May 2025
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings Andreas Sochopoulos Nikolay Malkin Nikolaos Tsagkas João Moura Michael Gienger S. Vijayakumar 50 1 0 02 May 2025
Optimal Interactive Learning on the Job via Facility Location Planning Shivam Vats Michelle Zhao Patrick Callaghan Mingxi Jia Maxim Likhachev Oliver Kroemer George Konidaris 34 0 0 01 May 2025
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking Xiatao Sun Yinxing Chen Daniel Rakita VGen 60 0 0 29 Apr 2025
Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions Tomoharu Aizu Takeru Oba Yuki Kondo Norimichi Ukita DiffM 75 0 0 28 Apr 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Yuchen Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 85 4 0 26 Apr 2025
MRTA-Sim: A Modular Simulator for Multi-Robot Allocation, Planning, and Control in Open-World Environments Victoria Tuck Hardik Parwana Pei-Wei Chen Georgios Fainekos Bardh Hoxha Hideki Okamoto S. Shankar Sastry S. Seshia 30 0 0 21 Apr 2025
Unreal Robotics Lab: A High-Fidelity Robotics Simulator with Advanced Physics and Rendering Jonathan Embley-Riches Jianwei Liu Simon Julier Dimitrios Kanoulas 45 0 0 19 Apr 2025
TinyverseGP: Towards a Modular Cross-domain Benchmarking Framework for Genetic Programming Roman Kalkreuth Fabricio Olivetti de França Julian Dierkes Marie Anastacio Anja Jankovic Zdenek Vasicek Holger Hoos 29 0 0 14 Apr 2025
REALM: Real-Time Estimates of Assistance for Learned Models in Human-Robot Interaction Michael Hagenow Julie Shah 34 0 0 12 Apr 2025
Two by Two: Learning Multi-Task Pairwise Objects Assembly for Generalizable Robot Manipulation Yu Qi Yuanchen Ju Tianming Wei Chi Chu Lawson L. S. Wong Huazhe Xu 37 1 0 09 Apr 2025
TW-CRL: Time-Weighted Contrastive Reward Learning for Efficient Inverse Reinforcement Learning Yuxuan Li Ning Yang Ning Yang Stephen Xia OffRL 53 0 0 08 Apr 2025
Vision-Language Model Predictive Control for Manipulation Planning and Trajectory Generation Jiaming Chen Wentao Zhao Ziyu Meng Donghui Mao Ran Song Wei Pan Wei Zhang 40 0 0 07 Apr 2025
REMAC: Self-Reflective and Self-Evolving Multi-Agent Collaboration for Long-Horizon Robot Manipulation Puzhen Yuan Angyuan Ma Yunchao Yao Huaxiu Yao Masayoshi Tomizuka Mingyu Ding LM&Ro 64 1 0 28 Mar 2025
Neuro-Symbolic Imitation Learning: Discovering Symbolic Abstractions for Skill Learning Leon Keller Daniel Tanneberg Jan Peters 54 0 0 27 Mar 2025
AdaWorld: Learning Adaptable World Models with Latent Actions Shenyuan Gao Siyuan Zhou Yilun Du Jun Zhang Chuang Gan VGen 68 4 0 24 Mar 2025
FLEX: A Framework for Learning Robot-Agnostic Force-based Skills Involving Sustained Contact Object Manipulation Shijie Fang Wenchang Gao Shivam Goel Christopher Thierauf matthias. scheutz Jivko Sinapov 52 0 0 17 Mar 2025
HASARD: A Benchmark for Vision-Based Safe Reinforcement Learning in Embodied Agents Tristan Tomilin Meng Fang Mykola Pechenizkiy 60 0 0 11 Mar 2025
Curiosity-Driven Imagination: Discovering Plan Operators and Learning Associated Policies for Open-World Adaptation Pierrick Lorang Hong Lu Matthias Scheutz 46 0 0 06 Mar 2025
MuBlE: MuJoCo and Blender simulation Environment and Benchmark for Task Planning in Robot Manipulation Michal Nazarczuk Karla Stepanova Jan Kristof Behrens Matej Hoffmann K. Mikolajczyk LM&Ro 53 0 0 04 Mar 2025
FLAME: A Federated Learning Benchmark for Robotic Manipulation Santiago Bou Betran Alberta Longhini Miguel Vasco Yuchong Zhang Danica Kragic 72 0 0 03 Mar 2025
Multi-Stage Manipulation with Demonstration-Augmented Reward, Policy, and World Model Learning Adrià López Escoriza Nicklas Hansen Stone Tao Tongzhou Mu H. Su OffRL 65 0 0 03 Mar 2025
Subtask-Aware Visual Reward Learning from Segmented Demonstrations Changyeon Kim Minho Heo Doohyun Lee Jinwoo Shin Honglak Lee Joseph J. Lim Kimin Lee 44 1 0 28 Feb 2025
Robust Gymnasium: A Unified Modular Benchmark for Robust Reinforcement Learning Shangding Gu Laixi Shi Muning Wen Ming Jin Eric Mazumdar Yuejie Chi Adam Wierman C. Spanos OOD OffRL 38 2 0 27 Feb 2025
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis Stephen Tian Blake Wulfe Kyle Sargent Katherine Liu Sergey Zakharov Vitor Campagnolo Guizilini Jiajun Wu 86 10 0 21 Feb 2025
SoFar: Language-Grounded Orientation Bridges Spatial Reasoning and Object Manipulation Zekun Qi Wenyao Zhang Yufei Ding Runpei Dong Xinqiang Yu ... Xin Jin Kaisheng Ma Zhizheng Zhang He Wang Li Yi LM&Ro 131 4 0 18 Feb 2025
InstructRobot: A Model-Free Framework for Mapping Natural Language Instructions into Robot Motion Iury Cleveston Alana C. Santana P. Costa Ricardo Ribeiro Gudwin A. S. Simões Esther L. Colombini LM&Ro 77 0 0 18 Feb 2025
Learning a High-quality Robotic Wiping Policy Using Systematic Reward Analysis and Visual-Language Model Based Curriculum Yihong Liu Dongyeop Kang S. Ha 73 0 0 18 Feb 2025
Memory, Benchmark & Robots: A Benchmark for Solving Complex Tasks with Reinforcement Learning Egor Cherepanov Nikita Kachaev A. Kovalev Aleksandr I. Panov OffRL 41 0 0 14 Feb 2025
Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking Yun-Hai Liu Bowen Yang Licheng Zhong He Wang Li Yi 50 5 0 23 Dec 2024
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations Cevahir Köprülü Po-han Li Tianyu Qiu Ruihan Zhao T. Westenbroek David Fridovich-Keil Sandeep Chinchali Ufuk Topcu OffRL 97 0 0 02 Dec 2024
Prognostic Framework for Robotic Manipulators Operating Under Dynamic Task Severities Ayush Mohanty Jason Dekarske Stephen K. Robinson Sanjay S. Joshi Nagi Gebraeel 73 0 0 30 Nov 2024
Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation Huy Le Miroslav Gabriel Tai Hoang Gerhard Neumann Ngo Anh Vien 116 1 0 22 Nov 2024
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning Zhenyu Jiang Yuqi Xie K. Lin Zhenjia Xu Weikang Wan Ajay Mandlekar Linxi Fan Yuke Zhu 59 25 0 31 Oct 2024
Local Policies Enable Zero-shot Long-horizon Manipulation Murtaza Dalal Min Liu Walter Talbott Chen Chen Deepak Pathak Jian Zhang Ruslan Salakhutdinov 46 3 0 29 Oct 2024
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment Caelan Reed Garrett Ajay Mandlekar Bowen Wen Dieter Fox 45 12 0 24 Oct 2024
Diffusion for Multi-Embodiment Grasping Roman Freiberg Alexander Qualmann Ngo Anh Vien Gerhard Neumann 29 3 0 24 Oct 2024
AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Tasks Ryan Diaz Adam Imdieke Vivek Veeriah Karthik Desingh 23 0 0 19 Oct 2024
RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation Shivam Vats Devesh K. Jha Maxim Likhachev Oliver Kroemer Diego Romeres OffRL 32 0 0 17 Oct 2024
OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation Jinhan Li Yifeng Zhu Yuqi Xie Zhenyu Jiang Mingyo Seo Georgios Pavlakos Yuke Zhu LM&Ro 31 31 0 15 Oct 2024
Can we hop in general? A discussion of benchmark selection and design using the Hopper environment C. Voelcker Marcel Hussing Eric Eaton OffRL 31 3 0 11 Oct 2024
SPA: 3D Spatial-Awareness Enables Effective Embodied Representation Haoyi Zhu Honghui Yang Yating Wang Jiange Yang Limin Wang Tong He 3DH 55 6 0 10 Oct 2024