Infinigen-Sim: Procedural Generation of Articulated Simulation Assets

Abhishek Joshi, Beining Han, Jack Nugent, Yiming Zuo, Jonathan Liu, Hongyu Wen, Stamatis Alexandropoulos, Tao Sun, Alexander Raistrick, Gaowen Liu, Yi Shao, Jia Deng

Keywords: Robot Simulation, Articulated Objects, Procedural Generation

TL;DR: Infinigen-Sim is a toolkit for procedurally generating high-quality articulated assets for robotics simulation.

Abstract: We introduce Infinigen-Sim, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 12 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 show that assets sampled from these generators are useful for movable object segmentation, training generalizable reinforcement learning policies, and sim-to-real transfer of imitation learning policies.

Serve As Reviewer: ~Abhishek_Joshi1

Submission Number: 10