Gen2Sim: Scaling up Robot Learning in Simulation with Generative Models
Pushkal Katara,Zhou Xian,Katerina Fragkiadaki,Pushkal Katara,Zhou Xian,Katerina Fragkiadaki
Generalist robot manipulators need to learn a wide variety of manipulation skills across diverse environments. Current robot training pipelines rely on humans to provide kinesthetic demonstrations or to program simulation environments and to code up reward functions for reinforcement learning. Such human involvement is an important bottleneck towards scaling up robot learning across diverse tasks ...
