自动生成可模拟的关节物体，提升机器人仿真真实度
Procedural Generation of Articulated Simulation-Ready Assets
- 18类常见关节物体的程序化生成器，支持自定义资产创建
- 生成资产在强化学习训练和仿真到现实迁移中表现良好
- 集成至主流机器人仿真器，支持物理属性导出
我们提出 Infinigen-Articulated，一个用于生成机器人仿真中使用的逼真、程序化关节物体的工具包。包含18类常见关节物体的程序化生成器，并提供高阶工具，可在Blender中创建自定义关节资产。同时，提供导出管道，将生成的资产及其物理属性集成到常见机器人仿真器中。实验表明，从这些生成器采样的资产在可移动物体分割、训练泛化强化学习策略，以及模仿学习策略的仿真到现实迁移中均表现出色。
原文摘要 · Abstract (English)
We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 common articulated object categories along with high-level utilities for use creating custom articulated assets in Blender. We also provide an export pipeline to integrate the resulting assets along with their physical properties into common robotics simulators. Experiments demonstrate that assets sampled from these generators are effective for movable object segmentation, training generalizable reinforcement learning policies, and sim-to-real transfer of imitation learning policies.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。