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

Abstract: 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.

External IDs:dblp:journals/corr/abs-2505-10755