# ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments

arXiv: https://arxiv.org/abs/2011.01126 · HTML: https://mlsanity.com/paper/2011.01126/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Nov 2020.

## Built on by (most cited first, 2 of 2)

- [Active Task Randomization: Learning Robust Skills via Unsupervised Generation of Diverse and Feasible Tasks](https://mlsanity.com/paper/2211.06134/) (2022)
- [Interactive Acquisition of Fine-grained Visual Concepts by Exploiting Semantics of Generic Characterizations in Discourse](https://mlsanity.com/paper/2305.03461/) (2023)

## Abstract (arXiv)

Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must complete, but few exist to specify what range of environments a user expects such tasks to be achieved in. ProbRobScene is a probabilistic specification language for describing robotic manipulation environments. Using the language, a user need only specify the relational constraints that must hold between objects in a scene. ProbRobScene will then automatically generate scenes which conform to this specification. By combining aspects of probabilistic programming languages and convex geometry, we provide a method for sampling this space of possible environments efficiently. We demonstrate the usefulness of our language by using it to debug a robotic controller in a tabletop robot manipulation environment.