# robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

arXiv: https://arxiv.org/abs/2009.12293 · HTML: https://mlsanity.com/paper/2009.12293/

## Key facts

- Cited by 511 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Sep 2020.

## Built on by (most cited first, 30 of 511)

- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [What Matters in Learning from Offline Human Demonstrations for Robot Manipulation](https://mlsanity.com/paper/2108.03298/) (2021)
- [RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation](https://mlsanity.com/paper/2506.18088/) (2025)
- [Evaluating Real-World Robot Manipulation Policies in Simulation](https://mlsanity.com/paper/2405.05941/) (2024)
- [MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge](https://mlsanity.com/paper/2206.08853/) (2022)
- [VIMA: General Robot Manipulation with Multimodal Prompts](https://mlsanity.com/paper/2210.03094/) (2022)
- [RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots](https://mlsanity.com/paper/2406.02523/) (2024)
- [ProcTHOR: Large-Scale Embodied AI Using Procedural Generation](https://mlsanity.com/paper/2206.06994/) (2022)
- [ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skills](https://mlsanity.com/paper/2302.04659/) (2023)
- [MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations](https://mlsanity.com/paper/2310.17596/) (2023)
- [Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments](https://mlsanity.com/paper/2301.04195/) (2023)
- [A Survey of Embodied AI: From Simulators to Research Tasks](https://mlsanity.com/paper/2103.04918/) (2021)
- [Masked Visual Pre-training for Motor Control](https://mlsanity.com/paper/2203.06173/) (2022)
- [ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI](https://mlsanity.com/paper/2410.00425/) (2024)
- [Habitat 3.0: A Co-Habitat for Humans, Avatars and Robots](https://mlsanity.com/paper/2310.13724/) (2023)
- [MimicPlay: Long-Horizon Imitation Learning by Watching Human Play](https://mlsanity.com/paper/2302.12422/) (2023)
- [ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrations](https://mlsanity.com/paper/2107.14483/) (2021)
- [iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Tasks](https://mlsanity.com/paper/2108.03272/) (2021)
- [A Review of Safe Reinforcement Learning: Methods, Theory and Applications](https://mlsanity.com/paper/2205.10330/) (2022)
- [A Survey of Zero-shot Generalisation in Deep Reinforcement Learning](https://mlsanity.com/paper/2111.09794/) (2021)
- [RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking](https://mlsanity.com/paper/2309.01918/) (2023)
- [BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments](https://mlsanity.com/paper/2108.03332/) (2021)
- [Ditto: Building Digital Twins of Articulated Objects from Interaction](https://mlsanity.com/paper/2202.08227/) (2022)
- [BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation](https://mlsanity.com/paper/2403.09227/) (2024)
- [Data Scaling Laws in Imitation Learning for Robotic Manipulation](https://mlsanity.com/paper/2410.18647/) (2024)
- [VIOLA: Imitation Learning for Vision-Based Manipulation with Object Proposal Priors](https://mlsanity.com/paper/2210.11339/) (2022)
- [FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation](https://mlsanity.com/paper/2305.12821/) (2023)
- [THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation](https://mlsanity.com/paper/2402.08191/) (2024)

## 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.