Synthetic Data Generation for Robotics

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40 papers in the last four weeks, up 567% on the four weeks before. 0.4% of all new papers.

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  1. RobotAPO: Adversarial Physics Preference Optimization for Robotic Manipulation Video Generation

    Oct 7, 2026Kerui Li, Zhe Jing, Chenyi Huang +4Physical Consistency in Video GenerationRobotic Manipulation

    Institute of Automation, Chinese Academy of Sciences · GigaAI · Beijing Institute of Technology

  2. RoboRender: Robot-Oriented Video Generation for Visual Sim-to-Real Transfer

    Oct 7, 2026Huang Huang, Wensi Ai, Ziyu Chen +6Sim-to-Real TransferSynthetic Data Generation for Robotics

    Stanford University · Nvidia · Microsoft Research

  3. PhysTacGen: Physics-Aware Visual-Tactile Sensor Image Generation

    Oct 6, 2026Guo Tang, Yongtao WangPhysics-Informed Generative ModelingTactile Sensing

    Wangxuan Institute of Computer Technology, Peking University · VGI Labs Co., Ltd.

  4. EmbodiedSmith: Scaling Embodied Data through Recursive Self-Improvement Flywheel in Simulation

    Oct 6, 2026Yikai Qin, Yifei Deng, Mingjian Liang +13Robot Foundation ModelsRobotics Simulation

    The Hong Kong University of Science and Technology (Guangzhou) · Xiaomi Robotics · Southeastern University +7

  5. SMART: Zero-Shot Sim-to-Real Articulated Object Manipulation via Large-Scale Synthetic Pretraining

    Oct 6, 2026Jicong Ao, Shuhan Jiang, Yuling Zhong +7Robotics SimulationSim-to-Real Transfer

    Institute of Artificial Intelligence, China Telecom · Zhejiang University · Technical University of Munich +4

  6. InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation

    Oct 5, 2026Yucheng Zhang, Sirui Xu, Jinhong Li +8Humanoid Loco-ManipulationSynthetic Data Generation for Robotics

    University of Illinois Urbana-Champaign · NVIDIA

  7. Infant simulator with an embodied caregiver: Generating infant-perspective touch and vision during social interaction

    Oct 5, 2026Noemi Vaculinova, Matej HoffmannRobotics SimulationHuman Behavior Simulation

    Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic

  8. Bootstrapping Video Interaction Generation with Synthetic State Transitions

    Oct 1, 2026Jiho Jang, Jinyoung Kim, Nojun Kwak +1Physical Consistency in Video GenerationSynthetic Data Generation for Robotics

    Seoul National University · Independent Researcher · Sejong University

  9. Getting Out and Getting Back: World and Behavior Grounding in Real2Sim2Real Co-Training

    Sep 30, 2026Samuel Liu, Youngsun Kim, Martin Matak +1Sim-to-Real TransferSynthetic Data Generation for Robotics

    University of Cambridge · Industrial Next

  10. From Local Whole-Body VLA Behaviors to Scene-Scale Aerial Manipulation

    Sep 30, 2026Weixiang Guo, Rui Jin, Haotian Jin +7Robotic ControlLanguage-Conditioned Robot Manipulation

    School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 · College of Electronics and Information Engineering, Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai 201804, China · School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China +1

  11. PneuTac: Tactile Manipulation with Soft Pneumatic Robots via Unified MPM-Gaussian Splatting Simulation

    Sep 29, 2026Shaohong Zhong, Marco Pontin, Joe Watson +2Robotics SimulationSynthetic Data Generation for Robotics

    Oxford Robotics Institute, Department of Engineering Science, University of Oxford, OX1 3PJ Oxford, U.K.

  12. Counterfactual Video Generation Enables Scalable Humanoid Loco-Manipulation

    Sep 29, 2026Zihan Wang, Zhen Wu, Pieter Abbeel +6HOI GenerationHumanoid Loco-Manipulation

    Amazon FAR · UC Berkeley · Stanford +1

  13. Exemplar2VQA: A Scalable Exemplar-Driven Visual Question Answering Generation Framework via Multi-Agent Coding

    Sep 29, 2026Jiayu Ying, Qijian Tian, Ruijie Xu +4Visual Question AnsweringMultimodal Large Language Models

    East China Normal University · Shanghai Jiao Tong University · Fudan University +1

  14. RoboFin3D: A Sim-to-Real Platform for Robotic Surface Finishing

    Sep 29, 2026Haowei Wen, Shangtao Li, Vaibhav Sanjay +3Robotics SimulationSim-to-Real Transfer

    Robotics Institute, School of Computer Science, Carnegie Mellon University

  15. AeroManip-VLA: Scalable Vision-Language-Action Learning for Aerial Manipulation with RL-Generated Demonstrations

    Sep 29, 2026Rui Huang, Yanlin Mu, Lidong Li +3Synthetic Data Generation for RoboticsVision-Language-Action Models

    National University of Singapore · Beijing Institute of Technology

  16. SkillWeaver: Agentic Exploration over Neural Interaction Skills for Scalable Robot Data Generation

    Sep 28, 2026He Zhu, Lusen Zhao, Kwan Man Cheng +2Robot Skill LearningRobotics Simulation

    Carnegie Mellon University · University of Illinois Urbana-Champaign

  17. DexAgent: An Agentic Human2Sim2Robot Framework for Dexterous Manipulation with Self-Evolving Tool Library

    Sep 28, 2026Youhui Wang, Yunzhu Li, Li Fei-Fei +2Long-Horizon Robotic ManipulationRobotics Simulation

    Stanford University · Columbia University

  18. HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction

    Sep 28, 2026Jihwan Shin, Adrià López Escoriza, Junzhe He +2Contact-Rich Robotic ManipulationSynthetic Data Generation for Robotics

    Robotic Systems Lab, ETH Zürich, 8092 Zürich, Switzerland

  19. NaviScale: Generating Large-Scale Semantic Map Datasets for Object Navigation

    Sep 23, 2026Chuanlin Lan, Yanwei Zheng, Yuxi Jing +6Robot NavigationSynthetic Data Generation for Robotics

    School of Computer Science and Technology, Shandong University, Qingdao, China

  20. AgriGen: Large-Scale Scene Generation Framework for Photorealistic Agricultural Robotics Simulation

    Sep 22, 2026Utkarsh Bajpai, Serge Tleiji, Cédric Pradalier +1Robotics SimulationSynthetic Data Generation for Robotics

    Georgia Tech-CNRS IRL2958, France · Notre Dame University, Lebanon; work done during internship at 1

  21. MotionForge: A Data Generation Pipeline and Large-Scale Benchmark for Long-Horizon Manipulation of Dynamic Objects with Domain Shifts

    Sep 22, 2026Mohan Liu, Dengchen Mei, Haotian Xian +7Long-Horizon Robotic ManipulationGeneralization in Robotic Manipulation

    Embodied Perception and Interaction Lab (EmPACT Lab), School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore · School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, and the Agency for Science, Technology and Research (A*STAR), Singapore · Beijing Normal-Hong Kong Baptist University (BNBU), Zhuhai, Guangdong, China

  22. PhyVisGen: Physically and Visually High-Fidelity Robotic Manipulation Data Generation

    Sep 22, 2026Yu Zheng, Qiyu Feng, Yixin Wu +6Robotics SimulationSim-to-Real Transfer

    School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China. · Global College, Shanghai Jiao Tong University, Shanghai, China. · Shenzhen Dizhou Technology Co., Ltd., Shenzhen, China +1

  23. DynaForge: Planning-Guided Residual Learning for Dynamic Manipulation Demonstration Generation

    Sep 22, 2026Yiyang Jin, Yu Zheng, Xiao He +1Synthetic Data Generation for RoboticsRobot Motion Generation

    School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China. · LandSpace Technology Co.,Ltd., China

  24. Norm2Tex: Augmenting Visuo-Tactile Simulations with Texture

    Sep 21, 2026Seongjin Bien, Débora Oliveira Makowski, Roberto Calandra +2Vision-Based Tactile SensingTactile Sensing

    University of Technology Nuremberg, Germany. · Technical University of Dresden, Germany. · Deggendorf Institute of Technology, Germany.

  25. Uranus: Building the Next-Generation Simulation Infrastructure for Embodied AI

    Sep 21, 2026Wenkang Qin, Yukun Zhou, Noah Shen +5Robotics SimulationSynthetic Data Generation for Robotics

    D-Robotics Large Model Team

  26. ARSTAG: An Agentic Real2Sim2Real System for Task-Specific Robot Data Generation

    Sep 21, 2026Bowei Li, Yuner Zhang, Changliu LiuRobotics SimulationSim-to-Real Transfer

    Carnegie Mellon University, Pittsburgh, PA 15213, USA

  27. RoboTalk: Learning Multi-Robot Communication and Coordination from Multimodal Demonstrations

    Sep 21, 2026Dorian Benhamou Goldfajn, Mason Nakamura, Saaduddin Mahmud +3Multi-Robot SystemsLanguage-Conditioned Robot Manipulation

    University of Massachusetts, Amherst, MA, USA. · University of California, Berkeley, CA, USA. · Northeastern University, Boston, MA, USA.

  28. ME-Dex 1.0: Bringing Heterogeneous Tactile Sensing into World Action Modeling

    Sep 18, 2026Xuancheng Zhang, Xuetao Liu, Qianying Tang +8World Models for RoboticsVisuo-Tactile Representation Learning

    Foundation Model, Li Auto Inc.

  29. DEXTERA: From a Single Image to Deployable Dexterous Manipulation via Real-to-Sim-to-Real

    Sep 17, 2026Jin Wu, Lianjie Yuan, Zeyan Sun +4Sim-to-Real TransferSynthetic Data Generation for Robotics

    The University of Texas at Austin · University of Florida · BrainCo

  30. Towards Scaling Marine Perception with Synthetic Data

    Sep 17, 2026Haoyu Ma, Onur Bagoren, Anja Sheppard +6Synthetic-to-Real Domain AdaptationSynthetic Data Generation

    Department of Robotics, University of Michigan, Ann Arbor, MI, USA · Department of Computer Science and Engineering, University of Michigan, Ann Arbor, MI, USA

  31. TouchSight: Bare-Handed Tactile Prediction from Egocentric Video via Generative Visual Augmentation

    Sep 17, 2026Danyan Zhou, Jinxuan Lu, Jiawei Lin +3Vision-Based Tactile SensingTactile Sensing

    THU · Xspark AI · HKUST (GZ) +1

  32. MAGMA-GEN: Validated Recovery Supervision from Ambiguous Failures via Counterfactual Re-Execution

    Sep 17, 2026Loan Bernat, Matthieu Grard, Ariane Herbulot +1Long-Horizon Robotic ManipulationRobot Failure Recovery

    LAAS-GEPETTO · Sil´eane, LAAS-CNRS · LAAS-RAP +2

  33. ReShoot: Generative Visual Domain Randomization of Recorded Robot Demonstrations for Visuomotor Policy Learning

    Sep 17, 2026Chiyoung Kim, Min Sung Choi, Jinho Ju +5Domain RandomizationVisuomotor Policy Learning

    Chung-Ang University, Seoul, Republic of Korea

  34. WorldContact: A Contact-Centric World Model for Scalable Robot Learning

    Sep 17, 2026Caoliwen Wang, Mengdi Wang, Heng Zhang +7Robot Policy AdaptationWorld Models for Robotics

    University of British Columbia · Westlake University · Style3D Research

  35. Dreaming the Sound of Contact: Leveraging Video and Audio Generation for Zero-Shot Force-Aware Manipulation and Data Generation

    Sep 16, 2026Guanhua Ji, Tianyu Li, Dayoon Suh +3Contact-Rich Robotic ManipulationSynthetic Data Generation for Robotics

    GRASP Lab, University of Pennsylvania, PA 19104, USA

  36. DeformSmith: Physics Harness-Guided Hierarchical Generation of Deformable Assets for Robot Manipulation

    Sep 16, 2026Can Li, Jie Gu, Zishun Deng +23D Asset GenerationRobotics Simulation

    Nankai University · Rightly Robotics, A4x

  37. Function-Preserving Data Generation for Zero-Shot Real-to-Sim-to-Real Manipulation

    Sep 16, 2026Tianyi Xiang, Xupeng Xie, Jiahang Cao +3Synthetic-to-Real Domain AdaptationLong-Horizon Robotic Manipulation

    Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Institute of Data Science, The University of Hong Kong, Hong Kong SAR, China

  38. Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place

    Sep 16, 2026Yingyue Li, Chenyangguang Zhang, Ruida Zhang +3Robot Policy LearningHierarchical RL

    Department of Automation, Tsinghua University, Beijing, China · ETH Zurich, Zurich, Switzerland · Beijing Xiaomi Robot Technology Co., Ltd, Beijing, China +1

  39. Beyond Pixel Similarity: Task-Aware Evaluation of GAN-Based Synthetic Sonar Data for Robotic Perception

    Sep 16, 2026Hannan Ejaz Keen, Muhammad Moazam Fraz, Karsten BernsSynthetic Data Generation for RoboticsRobotic Perception

    XITASO GmbH IT & Software Solutions, Augsburg, Germany · School of Electrical Engineering and Computer Science at National University of Sciences and Technology (NUST), Islamabad, Pakistan · Department of Computer Science at Technical University of Kaiserslautern, Kaiserslautern, Germany

  40. SlotDiT: Object-Centric Representations for Diffusion Transformers

    Sep 15, 2026Gjergj Plepi, Sven BehnkeDiffusion TransformerLatent Diffusion Models

    Autonomous Intelligent Systems, Computer Science Institute VI – Intelligent Systems and Robotics, Center for Robotics and the Lamarr Institute for Machine Learning and Artificial Intelligence, University of Bonn, Germany

  41. XPACE: Joint World and Action Modeling from Heterogeneous Experience

    Sep 15, 2026Jiacheng Wei, Jerry Bai, Xiaoyu Yue +13Cross-Embodiment Robot LearningSynthetic Data Generation for Robotics

    World Model Team, XPENG Robotics

  42. UniDex-ViTac: Learning Unified Visuo-Tactile Dexterous Manipulation Policy from Human Video Data

    Sep 15, 2026Hyesung Lee, Si-Hwan Heo, Sungwook YangRL for RoboticsVisuomotor Policy Learning

    Center for Humanoid Research, Korea Institute of Science and Technology, Seoul 02792, Republic of Korea · Kim Jaechul Graduate School of AI, Korea Advanced Institute of Science and Technology, Seoul 02455, Republic of Korea

  43. DATAFARM: Distribution-Aligned Task and Motion Planning for Fine-Tuning Vision-Language-Action Models

    Sep 14, 2026Samrat Sahoo, Yixuan Huang, Tom SilverSynthetic Data Generation for RoboticsRobotic Manipulation

    Stanford University · Princeton University

  44. Pelican-Sim 1.0: A General World Model Simulator for Embodied Intelligence

    Sep 14, 2026Shilong Zou, Shilin Zhang, Yingji Zhang +8World ModelsAction-Conditioned World Models

    Beijing Innovation Center of Humanoid Robotics (X-Humanoid) WFM System Group

  45. FoldNet++: a Large-Scale Synthetic Dataset for Robotic T-Shirt Folding and Unfolding

    Sep 14, 2026Yuxing Chen, Zhiyuan Wei, Bowen Xiao +2Generalization in Robotic ManipulationSynthetic Data Generation for Robotics

    CFCS, Peking University, China · Galbot, China

  46. LTLDiff: Finite Linear Temporal Logic-Guided Data Generation and Diffusion Policies for Multi-agent Robotic Manipulation

    Sep 11, 2026Chuhan Meng, Haiyan YinMulti-Agent CoordinationSynthetic Data Generation for Robotics

    University of Toronto, Toronto, ON, Canada · A*STAR Centre for Frontier AI Research (A*STAR CFAR), Agency for Science, Technology and Research (A*STAR), Singapore

  47. RoboCousin: Build Your Own Simulation Playground for Robust Bimanual Robotic Manipulation

    Sep 8, 2026Jingxuan Zhu, Jingyi Li, LiangLiang Chen +3Bimanual Robotic ManipulationRobotics Simulation

    E-surfing Digital Life Technology Co., Ltd., China Telecom

  48. IRWOZ 2.0: A Large Language Model-driven Dialogue Dataset for Industrial Robot Conversations

    Sep 3, 2026Chen Li, Dimitrios ChrysostomouSpoken Dialogue SystemsSynthetic Data Generation for Robotics

    Department of Materials and Production, Aalborg University, Fibigerstraede 16, Aalborg, 9220, Denmark.

  49. AnyWorld: Factorized Egocentric World Models for Cross-Embodiment Generalization

    Aug 29, 2026Cheng Chen, Jerry Bai, Jiacheng Wei +11Robot Skill LearningWorld Models for Robotics

    Nanyang Technological University · XPENG Robotics · Zhejiang University +2

  50. CRESSim-Neo: A Batched GPU Simulation Engine for Surgical Robotics and Robot Learning

    Aug 25, 2026Yafei Ou, Ahnaf Naheen, Tleukhan Mussin +3Robotics SimulationSynthetic Data Generation for Robotics

    Department of Electrical and Computer Engineering; 2Department of Biomedical Engineering, University of Alberta, Edmonton, Alberta, Canada.

  51. RoboEdit: Turning Human Manipulation Videos into Scalable Robot Experience

    Aug 19, 2026Yaowei Guo, Zeng Tao, Yuxin Jiang +7Cross-Embodiment Robot LearningSynthetic Data Generation for Robotics

    University of California, Los Angeles · Massachusetts Institute of Technology · University of Utah

  52. RGB-D Video Generation for Improving Human-to-Robot Object Handover Prediction

    Aug 13, 2026Tianyu Sun, Zhoujie Fu, Zihui Gao +2HOI GenerationSynthetic Data Generation for Robotics

    College of Computing and Data Science, Nanyang Technological University · College of Computer Science and Technology, Zhejiang University · Alibaba Group

  53. HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing

    Aug 12, 2026Zhenjie Yang, Xingyu Jiao, Guopeng Zhong +18Image-to-Image TranslationSynthetic Data Generation for Robotics

    Inspire Robots · Shanghai Jiao Tong University · Fudan University +3

  54. EsaacSim: A Multimodal Event Camera Add-on for NVIDIA Isaac Sim

    Aug 9, 2026Ignacio Bugueno-Cordova, Malte Kuhlmann, Nicolás Navarro-Guerrero +2Event-Based VisionRobotics Simulation

    Leibniz Universität Hannover, L3S Research Center, Hanover, Germany · Ekumen, Buenos Aires, Argentina · University of Southern Denmark, Odense, Denmark +1

  55. R2S-EGO: Dual-Proxy Refinement for Sparse-Capture Real-to-Sim

    Aug 7, 2026Shuai Fang, Xin Deng, Yuchen Kang +2Robotics SimulationSynthetic Data Generation for Robotics

    XPENG Robotics · The Hong Kong Polytechnic University

  56. GeniWorld: A Generalizable Interactive World Model for Robotic Manipulation via Visual Actions

    Aug 6, 2026Chenghao Gu, Hanyang Yu, Jingbo Zhang +7Action-Conditioned World ModelsRobotic Policy Evaluation

    Shenzhen International Graduate School, Tsinghua University · Tencent Robotics X · The Hong Kong University of Science and Technology +1

  57. RoboReact: Agentic Skill Distillation from Generated Egocentric Videos for Generalizable Whole-Body Manipulation

    Aug 4, 2026Shuliang He, Shuai Wang, Bo Yue +3Robot Skill LearningGeneralization in Robotic Manipulation

    The Chinese University of Hong Kong, Shenzhen · JD Technology · Tsinghua University

  58. Ego2Robot: Scalable Robot Data Synthesis from Egocentric Human Data

    Aug 3, 2026Ye Wang, Pei Lin, Xiong-Hui Chen +12Robot Skill LearningGeneralization in Robotic Manipulation

    1AIM3 Lab, Renmin University of China · 2Qwen Team, Alibaba Inc. · 3ShanghaiTech University +2

  59. DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration

    Aug 2, 2026Haoran Liao, Pengyue Wang, Shuoyu Chen +10Robot Policy LearningSynthetic Data Generation for Robotics

    1Sun Yat-sen University · 4Jiangxing Intelligence · 2Stanford University +1

  60. BWM: A Low-Cost High-Fidelity World Simulator for Robot Learning

    Jul 31, 2026BWM TeamWorld Models for RoboticsRobotics Simulation