mlsanityData to 7 Oct 2026

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

arXiv 2009.12293 ↗First posted 25 Sep 2020cs.RO cs.AI cs.LGcited by 484

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Cited by 83 in Offline RL and imitation learning from data, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

robosuite is a simulation framework for robot learning powered by the MuJoCo physics engine. It offers a modular design for creating robotic tasks as well as a suite of benchmark environments for reproducible research. This paper discusses the key system modules and the benchmark environments of our new release robosuite v1.5.

Key facts. Cited by 484 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 Sep 2020.

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Citing papers per year: 2020: 1; 2021: 39; 2022: 47; 2023: 61; 2024: 90; 2025: 104; 2026: 142.

484 papers.

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  1. 2023Voyager: An Open-Ended Embodied Agent with Large Language Modelscited by 2,081
  2. 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,338
  3. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  4. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  5. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  6. 2025RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulationcited by 477
  7. 2022MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledgecited by 469
  8. 2022VIMA: General Robot Manipulation with Multimodal Promptscited by 403
  9. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
  10. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 369
  11. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  12. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 308
38 more
  1. 2021A Survey of Embodied AI: From Simulators to Research Taskscited by 256
  2. 2022Masked Visual Pre-training for Motor Controlcited by 246
  3. 2023Orbit: A Unified Simulation Framework for Interactive Robot Learning Environmentscited by 239
  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. 2023MimicPlay: Long-Horizon Imitation Learning by Watching Human Playcited by 214
  7. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 193
  8. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 191
  9. 2022A Review of Safe Reinforcement Learning: Methods, Theory and Applicationscited by 169
  10. 2023RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunkingcited by 167
  11. 2021A Survey of Zero-shot Generalisation in Deep Reinforcement Learningcited by 164
  12. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  13. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 152
  14. 2024Data Scaling Laws in Imitation Learning for Robotic Manipulationcited by 144
  15. 2024BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulationcited by 140
  16. 2022VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priorscited by 135
  17. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 132
  18. 2024THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulationcited by 128
  19. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representationscited by 115
  20. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 113
  21. 2023Parallel Sampling of Diffusion Modelscited by 112
  22. 2024Is Sora a World Simulator? A Comprehensive Survey on General World Models and Beyondcited by 111
  23. 2025AdaWorld: Learning Adaptable World Models with Latent Actionscited by 108
  24. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 104
  25. 2020Human-in-the-Loop Imitation Learning using Remote Teleoperationcited by 103
  26. 2022Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deploymentcited by 101
  27. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 101
  28. 2021ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learningcited by 98
  29. 2025A Survey on Vision-Language-Action Models: An Action Tokenization Perspectivecited by 96
  30. 2024Articulate-Anything: Automatic Modeling of Articulated Objects via a Vision-Language Foundation Modelcited by 90
  31. 2021S4RL: Surprisingly Simple Self-Supervision for Offline Reinforcement Learningcited by 85
  32. 2021Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulationcited by 82
  33. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  34. 2023Preference Transformer: Modeling Human Preferences using Transformers for RLcited by 77
  35. 2022Can Wikipedia Help Offline Reinforcement Learning?cited by 76
  36. 2021Augmenting Reinforcement Learning with Behavior Primitives for Diverse Manipulation Taskscited by 75
  37. 2023Octopus: Embodied Vision-Language Programmer from Environmental Feedbackcited by 73
  38. 2026CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulationcited by 72

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