Synthetic Data Generation for Robotics

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VLAMotor: Test-Guided Enhancement of Vision-Language-Action Models via Agent-BasedData Synthesis
May 16, 2026Zeqin Liao, Peifan Ren, Zixu Gao +6VLM Adaptation Synthetic Data Generation for Robotics
School of computing and data science, Nanyang Technological University · School of Software Engineering, Sun Yat-sen University, China and GuangDong Engineering Technology Research Center of Blockchain, China · Northwest A&F University
Articraft: An Agentic System for Scalable Articulated 3D Asset Generation
May 14, 2026Matt Zhou, Ruining Li, Xiaoyang Lyu +63D Asset Generation LLM-Based Program Synthesis
University of Cambridge · University of Oxford · Nanyang Technological University
OmniLiDAR: A Unified Diffusion Framework for Multi-Domain 3D LiDAR Generation
May 13, 2026Youquan Liu, Weidong Yang, Ao Liang +9Synthetic Data Generation for Robotics 3D Scene Generation
College of Computer Science and Artificial Intelligence, Fudan University, Shanghai, China · School of Computing, Department of Computer Science, National University of Singapore, Singapore · College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China +5
RoboEvolve: Co-Evolving Planner-Simulator for Robotic Manipulation with Limited Data
May 13, 2026Harold Haodong Chen, Sirui Chen, Yingjie Xu +2Robot Skill Learning Synthetic Data Generation for Robotics
1The Hong Kong University of Science and Technology (Guangzhou) · 2The Hong Kong University of Science and Technology
OmniHumanoid: Streaming Cross-Embodiment Video Generation with Paired-Free Adaptation
May 12, 2026Yiren Song, Xiyao Deng, Pei Yang +2Unsupervised Domain Adaptation Streaming Video Generation
Show Lab, National University of Singapore
Overcoming the Intrinsic Performance Limitations of MEMS IMU via Diffusion-Based Generative Learning
May 12, 2026Jiarui Lv, Feng Zhu, Xiaohong ZhangSynthetic Data Generation for Robotics Inertial Navigation
School of Geodesy and Geomatics, Wuhan University, Wuhan, Hubei 430079, China · School of Geodesy and Geomatics, and Hubei Luojia Laboratory, Wuhan University, Wuhan, Hubei 430079, China · School of Geodesy and Geomatics, Hubei Luojia Laboratory, and Chinese Antarctic Center of Surveying and Mapping, Wuhan University, Wuhan, Hubei 430079, China
Toward Visually Realistic Simulation: A Benchmark for Evaluating Robot Manipulation in Simulation
May 7, 2026Yixin Zhu, Zixiong Wang, Jian Yang +4Robotics Simulation Sim-to-Real Transfer
Nanjing University · Nankai University · ShanghaiTech University
Generating Roadside LiDAR Datasets from Vehicle-Side Datasets via Novel View Synthesis
May 7, 2026Yuhan Xia, Runxin Zhao, Hanyang Zhuang +2Point Cloud Completion Intelligent Transportation Systems
School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China; Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China · Global College, Shanghai Jiao Tong University, Shanghai 200240, China
Conditional Flow-VAE for Safety-Critical Traffic Scenario Generation
May 6, 2026Zimu Gong, Brian Zhaoning Zhang, Chris Zhang +2Flow Matching Synthetic Data Generation for Robotics
University of Michigan-Ann Arbor · University of Waterloo · 1Waabi Innovation Inc +1
Bridging the Embodiment Gap: Disentangled Cross-Embodiment Video Editing
May 5, 2026Zhiyuan Li, Wenyan Yang, Wenshuai Zhao +4Disentangled Representation Learning Cross-Embodiment Robot Learning
Department of Electrical Engineering and Automation, Aalto University, Finland · Department of Computer Science, Aalto University, Finland · Hong Kong University of Science and Technology, China +1
Embody4D: A Generalist Data Engine for Embodied 4D World Modeling
May 3, 2026Peiyan Tu, Hanxin Zhu, Jingwen Sun +6Camera-Conditioned Video Generation Synthetic Data Generation for Robotics
Zhejiang University · University of Science and Technology of China · Beijing Zhongguancun Academy +3
A Principled Approach for Creating High-fidelity Synthetic Demonstrations for Imitation Learning
May 2, 2026Moniruzzaman Akash, Momotaz BegumSynthetic Data Generation for Robotics Robot Motion Generation
Department of Computer Science · University of New Hampshire
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Apr 30, 2026Yajvan Ravan, Adam Rashid, Alan Yu +8Robotic Data Collection Robotics Simulation
MIT CSAIL · 2FortyFive Labs · 3Caltech +3
Simulating Infant First-Person Sensorimotor Experience via Motion Retargeting from Babies to Humanoids
Apr 30, 2026Francisco M. López, Hoshinori Kanazawa, Ondrej Fiala +8Robotics Simulation Synthetic Data Generation for Robotics
Frankfurt Institute for Advanced Studies, Germany · Graduate School of Information Science and Technology, The University of Tokyo, Japan · Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic +1
World2Minecraft: Occupancy-Driven Simulated Scenes Construction
Apr 30, 2026Lechao Zhang, Haoran Xu, Jingyu Gong +33D Reconstruction Synthetic Data Generation for Robotics
School of Computer Science and Technology, East China Normal University · Shanghai Artificial Intelligence Laboratory · Shanghai Innovation Institute
3D Generation for Embodied AI and Robotic Simulation: A Survey
Apr 29, 2026Tianwei Ye, Yifan Mao, Minwen Liao +63D Asset Generation Robotics Simulation
the Hong Kong University of Science and Technology · Wuhan University · Harbin Institute of Technology +2
SPLIT: Separating Physical-Contact via Latent Arithmetic in Image-Based Tactile Sensors
Apr 27, 2026Wadhah Zai El Amri, Nicolás Navarro-GuerreroVision-Based Tactile Sensing Disentangled Representation Learning
Leibniz Universität Hannover, L3S Research Center, Appelstraße 4, Hannover, 30167, Lower Saxony, Germany
AmaraSpatial-10K: A Spatially and Semantically Aligned 3D Dataset for Spatial Computing and Embodied AI
Apr 24, 2026Mohammad Sadegh Salehi, Alex Perkins, Igor Maurell +2Synthetic Data Generation for Robotics Automated Evaluation
Zero One Creative
Vision-Language-Action in Robotics: A Survey of Datasets, Benchmarks, and Data Engines
Apr 24, 2026Ziyao Wang, Bingying Wang, Hanrong Zhang +7Synthetic Data Generation for Robotics Robotics
University of Maryland, College Park · University of Utah · Northeastern University +1
FalconApp: Rapid iPhone Deployment of End-to-End Perception via Automatically Labeled Synthetic Data
Apr 21, 2026Yan Miao, Will Shen, Sayan MitraObject Pose Estimation Synthetic Data Generation for Robotics
Department of Electrical and Computer Engineering, University of Illinois at Urbana Champaign
InHabit: Leveraging Image Foundation Models for Scalable 3D Human Placement
Apr 21, 2026Nikita Kister, Pradyumna YM, István Sárándi +3Synthetic Data Generation for Robotics
University of Tübingen, Germany · Bosch Center of Artificial Intelligence, Germany · Zalando SE, Germany +1
FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes
Apr 19, 2026Siyuan Luo, Bingyang Zhou, Chong Zhang +9Contact-Rich Robotic Manipulation Robotics Simulation
NUS Human-Centered Robotic Lab · ETH · ShanghaiTech University +2
From Seeing to Simulating: Generative High-Fidelity Simulation with Digital Cousins for Generalizable Robot Learning and Evaluation
Apr 17, 2026Jasper Lu, Zhenhao Shen, Yuanfei Wang +8Robotics Simulation Synthetic Data Generation for Robotics
1Peking University · 2Lightwheel
ShapeGen: Robotic Data Generation for Category-Level Manipulation
Apr 16, 2026Yirui Wang, Xiuwei Xu, Angyuan Ma +3Robotic Data Collection Generalization in Robotic Manipulation
Tsinghua University
DockAnywhere: Data-Efficient Visuomotor Policy Learning for Mobile Manipulation via Novel Demonstration Generation
Apr 16, 2026Ziyu Shan, Yuheng Zhou, Gaoyuan Wu +3Mobile Manipulation Generalization in Robotic Manipulation
Beijing University of Posts and Telecommunications, Beijing, China · Nanyang Technological University, Singapore
BiDexGrasp: Coordinated Bimanual Dexterous Grasps across Object Geometries and Sizes
Apr 8, 2026Mu Lin, Yi-Lin Wei, Jiaxuan Chen +7Robotic Grasping Dexterous Manipulation
Sun Yat-sen University · Peking University · Tsinghua University
Fire as a Service: Augmenting Robot Simulators with Thermally and Visually Accurate Fire Dynamics
Mar 19, 2026Anton R. Wagner, Madhan Balaji Rao, Helge Wrede +2Robotics Simulation Synthetic Data Generation for Robotics
Department of Computer Science, Kiel University, Germany · Department of Computer Science, George Mason University, USA
RADAR: Closed-Loop Robotic Data Generation via Semantic Planning and Autonomous Causal Environment Reset
Mar 12, 2026Yongzhong Wang, Keyu Zhu, Yong Zhong +3Robotic Data Collection Synthetic Data Generation for Robotics
Department of Computer Science and Engineering, Southern University of Science and Technology. · Harbin Institute of Technology, Shenzhen. · Spatialtemporal AI.
Multimodal Behavior Tree Generation: A Small Vision-Language Model for Robot Task Planning
Mar 6, 2026Riccardo Andrea Izzo, Cristiano Battistini, Gianluca Bardaro +1Large Language Model-Based Robot Planning Synthetic Data Generation for Robotics
Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy
RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation
Mar 4, 2026Shutong Jin, Jin Yang, Muhammad Zahid +1Robotic Data Collection Synthetic Data Generation for Robotics
School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology

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VLAMotor: Test-Guided Enhancement of Vision-Language-Action Models via Agent-BasedData Synthesis

Zeqin Liao, Peifan Ren, Zixu Gao, Hongyu Gong+5

School of computing and data science, Nanyang Technological University · School of Software Engineering, Sun Yat-sen University, China and GuangDong Engineering Technology Research Center of Blockchain, China · Northwest A&F University

VLM Adaptation Synthetic Data Generation for Robotics Robotic Manipulation Vision-Language-Action Models Robustness of VLA Models

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Vision-Language-Action (VLA) models follow a data-driven paradigm and are constrained by the coverage of training data, making them prone to failure on edge-case configurations after deployment. To mitigate such risks, it is essential to expose high-quality failure modes and convert the resulting failures into supervisory data for model enhancement. Existing studies largely stop at failure detection and lack a mechanism for leveraging discovered failures for model repair. We propose VLAMotor, the first analysis framework for VLA enhancement, which integrates distance-aware model testing for failure exposure and agent-based data synthesis for model finetunning. First, VLAMotor estimates input uncertainty based on the distance to training samples, and combines uncertainty ranking with redundancy elimination to build compact test sets that expose diverse failures. Then, VLAMotor abstracts failure trajectories into structured semantic representations, and plans parameterized repair-skill sequences, which are then realized as executable trajectories through inverse kinematics and motion execution. The resulting successful trajectories are automatically labeled and used to fine-tune the original VLA model, yielding an enhanced VLA model. Evaluation on four representative robotic manipulation tasks shows that 92.33% of the in-simulation test cases generated by VLAMotor trigger VLA failures, and VLAMotor improves test coverage over the state-of-the-art tool by 18.93%. By fine-tuning VLA models with synthetic data derived from failed test cases, VLAMotor further enhances the overall success rate of VLA models by 49.25%. When deployed on real hardware, the simulation-enhanced models improve the success rate over the original VLA models by 57.50%, demonstrating an effective and low-cost direction for VLA enhancement.

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