mlsanityData to 14 Oct 2026

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments

arXiv 2301.04195 ↗First posted 10 Jan 2023cs.RO cs.AIcited by 295

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Cited by 111 in Deep reinforcement learning methods, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes and high-fidelity rigid and deformable body simulation. With Orbit, we provide a suite of benchmark tasks of varying difficulty -- from single-stage cabinet opening and cloth folding to multi-stage tasks such as room reorganization. To support working with diverse observations and action spaces, we include fixed-arm and mobile manipulators with different physically-based sensors and motion generators. Orbit allows training reinforcement learning policies and collecting large demonstration datasets from hand-crafted or expert solutions in a matter of minutes by leveraging GPU-based parallelization. In summary, we offer an open-sourced framework that readily comes with 16 robotic platforms, 4 sensor modalities, 10 motion generators, more than 20 benchmark tasks, and wrappers to 4 learning libraries. With this framework, we aim to support various research areas, including representation learning, reinforcement learning, imitation learning, and task and motion planning. We hope it helps establish interdisciplinary collaborations in these communities, and its modularity makes it easily extensible for more tasks and applications in the future.

Key facts. Cited by 295 papers in the map (data through 14 Oct 2026). Builds on 31 of its 61 references that are in the map. First posted on arXiv 10 Jan 2023.

Builds on

31 of 61 references.

References · 31

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2019Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learningcited by 1,204
  3. 2019Habitat: A Platform for Embodied AI Researchcited by 1,191
  4. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  5. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 904
  6. 2019Solving Rubik's Cube with a Robot Handcited by 734
  7. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 725
  8. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 689
  9. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  10. 2018PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understandingcited by 526
  11. 2017AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehiclescited by 523
  12. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
19 more
  1. 2020robosuite: A Modular Simulation Framework and Benchmark for Robot Learningcited by 511
  2. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
  3. 2021RMA: Rapid Motor Adaptation for Legged Robotscited by 508
  4. 2019Learning agile and dynamic motor skills for legged robotscited by 504
  5. 2022Learning robust perceptive locomotion for quadrupedal robots in the wildcited by 382
  6. 2020ThreeDWorld: A Platform for Interactive Multi-Modal Physical Simulationcited by 250
  7. 2018RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitationcited by 204
  8. 2021iGibson 2.0: Object-Centric Simulation for Robot Learning of Everyday Household Taskscited by 194
  9. 2020SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulationcited by 121
  10. 2021ManipulaTHOR: A Framework for Visual Object Manipulationcited by 102
  11. 2015Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocolscited by 99
  12. 2019Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Taskscited by 67
  13. 2022Factory: Fast Contact for Robotic Assemblycited by 54
  14. 2021Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulationcited by 44
  15. 2021Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFingercited by 38
  16. 2019DoorGym: A Scalable Door Opening Environment And Baseline Agentcited by 26
  17. 2021GLiDE: Generalizable Quadrupedal Locomotion in Diverse Environments with a Centroidal Modelcited by 25
  18. 2022Sim-to-Real for Soft Robots using Differentiable FEM: Recipes for Meshing, Damping, and Actuationcited by 10
  19. 2020RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policiescited by 7

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 11; 2024: 41; 2025: 155; 2026: 88.

295 papers.

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  1. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 229
  2. 2024NaVILA: Legged Robot Vision-Language-Action Model for Navigationcited by 211
  3. 2023Scaling Robot Learning with Semantically Imagined Experiencecited by 177
  4. 2023RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunkingcited by 169
  5. 2024Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulationcited by 144
  6. 2024SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learningcited by 136
  7. 2024SceneVerse: Scaling 3D Vision-Language Learning for Grounded Scene Understandingcited by 133
  8. 2025ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skillscited by 130
  9. 2025EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videoscited by 128
  10. 2024PhyScene: Physically Interactable 3D Scene Synthesis for Embodied AIcited by 125
  11. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 123
  12. 2024From Imitation to Refinement -- Residual RL for Precise Assemblycited by 90
38 more
  1. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 84
  2. 2026RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robotscited by 79
  3. 2025HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpitcited by 76
  4. 2023ARNOLD: A Benchmark for Language-Grounded Task Learning With Continuous States in Realistic 3D Scenescited by 69
  5. 2024SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splattingcited by 69
  6. 2025WorldEval: World Model as Real-World Robot Policies Evaluatorcited by 68
  7. 2025A Comprehensive Survey on World Models for Embodied AIcited by 68
  8. 2025GigaWorld-0: World Models as Data Engine to Empower Embodied AIcited by 62
  9. 2025EnerVerse: Envisioning Embodied Future Space for Robotics Manipulationcited by 61
  10. 2024TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correctioncited by 59
  11. 2024GRUtopia: Dream General Robots in a City at Scalecited by 59
  12. 2025RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learningcited by 54
  13. 2024RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulatorcited by 53
  14. 2025Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Roboticscited by 51
  15. 2026SAGE: Scalable Agentic 3D Scene Generation for Embodied AIcited by 50
  16. 2025RSL-RL: A Learning Library for Robotics Researchcited by 49
  17. 2025A Survey of State of the Art Large Vision Language Models: Alignment, Benchmark, Evaluations and Challengescited by 47
  18. 2025FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Controlcited by 44
  19. 2024Inference-Time Policy Steering through Human Interactionscited by 38
  20. 2025A Survey of Sim-to-Real Methods in RL: Progress, Prospects and Challenges with Foundation Modelscited by 38
  21. 2025DexWild: Dexterous Human Interactions for In-the-Wild Robot Policiescited by 38
  22. 2024PerAct2: Benchmarking and Learning for Robotic Bimanual Manipulation Taskscited by 37
  23. 20243D-GRAND: A Million-Scale Dataset for 3D-LLMs with Better Grounding and Less Hallucinationcited by 36
  24. 2025EmbodiedGen: Towards a Generative 3D World Engine for Embodied Intelligencecited by 36
  25. 2025FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learningcited by 34
  26. 2023OmniDrones: An Efficient and Flexible Platform for Reinforcement Learning in Drone Controlcited by 33
  27. 2025Vid2Sim: Realistic and Interactive Simulation from Video for Urban Navigationcited by 30
  28. 2025DRAWER: Digital Reconstruction and Articulation With Environment Realismcited by 29
  29. 2023AR2-D2:Training a Robot Without a Robotcited by 27
  30. 2025The Reality Gap in Robotics: Challenges, Solutions, and Best Practicescited by 24
  31. 2024CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Modelscited by 22
  32. 2024GarmentLab: A Unified Simulation and Benchmark for Garment Manipulationcited by 22
  33. 2025ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesiscited by 22
  34. 2026Utonia: Toward One Encoder for All Point Cloudscited by 21
  35. 2024Stabilizing Reinforcement Learning in Differentiable Multiphysics Simulationcited by 20
  36. 2023TWIST: Teacher-Student World Model Distillation for Efficient Sim-to-Real Transfercited by 19
  37. 2023Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challengescited by 18
  38. 2024Semantically Controllable Augmentations for Generalizable Robot Learningcited by 18

50 most cited of 295 All 295 (JSON)

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  1. 2025Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
  2. 2024ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity
  3. 2025SimLauncher: Launching Sample-Efficient Real-world Robotic Reinforcement Learning via Simulation Pre-training
  4. 2024UBSoft: A Simulation Platform for Robotic Skill Learning in Unbounded Soft Environments
  5. 2025AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation
  6. 2026Chrono-Gymnasium: An Open-Source, Gymnasium-Compatible Distributed Simulation Framework ↗
  7. 2025Ark: An Open-source Python-based Framework for Robot Learning
  8. 2026Interactive World Simulator for Robot Policy Training and Evaluation