3 papers
cs.RO2026
SimFoundry: Modular and Automated Scene Generation for Policy Learning and Evaluation
Nadun Ranawaka, Josiah Wong, Wei-Lin Pai +15
Training and evaluating robot policies in the real world is costly and difficult to scale. We introduce SimFoundry, a modular and automated system for zero-shot real-to-sim scene c…
cs.RO2026
GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
Tianyi Xie, Haotian Zhang, Jinhyung Park +17
Scaling humanoid loco-manipulation requires robot-compatible demonstrations across diverse objects, whole-body motions, and scene geometries, but teleoperation and motion capture a…
cs.RO2026
HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
Kevin Lin, Ajay Mandlekar, Caelan Reed Garrett +7
Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and…