RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation

arXiv:2311.01455v3 Announce Type: replace-cross
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 learning with minimal human supervision. Our approach equips a …

abstract agent arxiv automated cs.ai cs.cv cs.lg cs.ro data diverse foundation generative generative models latest low policies replace robot robotic scale simulation skills type via