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RoboGen R o b o G e n : Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation ICML 2024 Yufei Wang *,1 , Zhou Xian *,1 , Feng Chen *, 2 , Tsun-Hsuan Wang 3 , Yian Wang 4 , Katerina Fragkiadaki 1 , Zackory Erickson 1 , David Held 1 , Chuang Gan 4,5 1 CMU, 2 Tsinghua IIIS, 3 MIT CSAIL, 4 UMass Amherst, 5 MIT-IBM AI Lab * Equal Contribution arXiv Code Abstract We present RoboGen, a generative robotic agent that automatically learns diverse robotic skills at scale via generative simulation. RoboGen leverages the latest advancements in foundation and generative models. Instead of directly using or adapting these models to produce policies or low-level actions, we advocate for a generative scheme, which uses these models to automatically generate diversified tasks, scenes, and training supervisions, thereby scaling up robotic skill lea...
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