mlsanityData to 7 Oct 2026

SAPIEN: A SimulAted Part-based Interactive ENvironment

arXiv 2003.08515 ↗First posted 19 Mar 2020cs.CV cs.ROcited by 584

On the map: World models → Embodied and robot world models

Abstract (arXiv)

Building home assistant robots has long been a pursuit for vision and robotics researchers. To achieve this task, a simulated environment with physically realistic simulation, sufficient articulated objects, and transferability to the real robot is indispensable. Existing environments achieve these requirements for robotics simulation with different levels of simplification and focus. We take one step further in constructing an environment that supports household tasks for training robot learning algorithm. Our work, SAPIEN, is a realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. Our SAPIEN enables various robotic vision and interaction tasks that require detailed part-level understanding.We evaluate state-of-the-art vision algorithms for part detection and motion attribute recognition as well as demonstrate robotic interaction tasks using heuristic approaches and reinforcement learning algorithms. We hope that our SAPIEN can open a lot of research directions yet to be explored, including learning cognition through interaction, part motion discovery, and construction of robotics-ready simulated game environment.

Key facts. Cited by 584 papers in the map (data through 7 Oct 2026). Placed in Embodied and robot world models, one of 11 directions in World models. Builds on 4 of its 62 references that are in the map. First posted on arXiv 19 Mar 2020.

Builds on

4 of 62 references.

References · 4

  1. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  2. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,354
  3. 2019Habitat: A Platform for Embodied AI Researchcited by 1,163
  4. 2017AI2-THOR: An Interactive 3D Environment for Visual AIcited by 850

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2020: 2; 2021: 48; 2022: 53; 2023: 85; 2024: 106; 2025: 144; 2026: 146.

584 papers.

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  1. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,522
  2. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 733
  3. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  4. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  5. 2025RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulationcited by 477
  6. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 369
  7. 2022HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interactioncited by 321
  8. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  9. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  10. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  11. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 256
  12. 2020ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulationcited by 249
38 more
  1. 2024RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Roboticscited by 242
  2. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 239
  3. 2023Building Cooperative Embodied Agents Modularly with Large Language Modelscited by 231
  4. 2023Habitat 3.0: A Co-Habitat for Humans, Avatars and Robotscited by 220
  5. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 216
  6. 2023RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulationcited by 206
  7. 2021Stochastic Scene-Aware Motion Predictioncited by 203
  8. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 193
  9. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 191
  10. 2025DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Controlcited by 191
  11. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 179
  12. 2023Scaling Robot Learning with Semantically Imagined Experiencecited by 175
  13. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  14. 2024RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulationcited by 166
  15. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  16. 2024Understanding World or Predicting Future? A Comprehensive Survey of World Modelscited by 161
  17. 2023ManipLLM: Embodied Multimodal Large Language Model for Object-Centric Robotic Manipulationcited by 157
  18. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 152
  19. 2020iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenescited by 151
  20. 2023Infinite Photorealistic Worlds using Procedural Generationcited by 142
  21. 2024BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulationcited by 140
  22. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 136
  23. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  24. 2024Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generationcited by 129
  25. 2022PartSLIP: Low-Shot Part Segmentation for 3D Point Clouds via Pretrained Image-Language Modelscited by 117
  26. 2025RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twinscited by 117
  27. 2024PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AIcited by 116
  28. 2023PARIS: Part-level Reconstruction and Motion Analysis for Articulated Objectscited by 115
  29. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representationscited by 115
  30. 2021A-SDF: Learning Disentangled Signed Distance Functions for Articulated Shape Representationcited by 113
  31. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113
  32. 2024URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Imagescited by 106
  33. 2024RoboMamba: Efficient Vision-Language-Action Model for Robotic Reasoning and Manipulationcited by 102
  34. 2021Visual Room Rearrangementcited by 101
  35. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 101
  36. 2021PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physicscited by 100
  37. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  38. 2022Instruction-driven history-aware policies for robotic manipulationscited by 93

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  1. 2026SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes
  2. 2024RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
  3. 2024SpotLight: Robotic Scene Understanding through Interaction and Affordance Detection ↗
  4. 2025MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
  5. 2025AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
  6. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
  7. 2026RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
  8. 2019RLBench: The Robot Learning Benchmark & Learning Environment