mlsanityData to 14 Oct 2026

GenAug: Retargeting behaviors to unseen situations via Generative Augmentation

arXiv 2302.06671 ↗First posted 13 Feb 2023cs.ROcited by 104

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Cited by 21 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Robot learning methods have the potential for widespread generalization across tasks, environments, and objects. However, these methods require large diverse datasets that are expensive to collect in real-world robotics settings. For robot learning to generalize, we must be able to leverage sources of data or priors beyond the robot's own experience. In this work, we posit that image-text generative models, which are pre-trained on large corpora of web-scraped data, can serve as such a data source. We show that despite these generative models being trained on largely non-robotics data, they can serve as effective ways to impart priors into the process of robot learning in a way that enables widespread generalization. In particular, we show how pre-trained generative models can serve as effective tools for semantically meaningful data augmentation. By leveraging these pre-trained models for generating appropriate "semantic" data augmentations, we propose a system GenAug that is able to significantly improve policy generalization. We apply GenAug to tabletop manipulation tasks, showing the ability to re-target behavior to novel scenarios, while only requiring marginal amounts of real-world data. We demonstrate the efficacy of this system on a number of object manipulation problems in the real world, showing a 40% improvement in generalization to novel scenes and objects.

Key facts. Cited by 104 papers in the map (data through 14 Oct 2026). First posted on arXiv 13 Feb 2023.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 18; 2024: 35; 2025: 30; 2026: 21.

104 papers.

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  1. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  2. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,225
  3. 2024Sora: A Review on Background, Technology, Limitations, and Opportunities of Large Vision Modelscited by 477
  4. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 327
  5. 20243D Diffuser Actor: Policy Diffusion with 3D Scene Representationscited by 282
  6. 2025DreamGen: Unlocking Generalization in Robot Learning through Video World Modelscited by 179
  7. 2023Scaling Robot Learning with Semantically Imagined Experiencecited by 177
  8. 2023RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunkingcited by 169
  9. 2024Gen2Act: Human Video Generation in Novel Scenarios enables Generalizable Robot Manipulationcited by 153
  10. 2026π0.7: a Steerable Generalist Robotic Foundation Model with Emergent Capabilitiescited by 138
  11. 2023RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketchescited by 133
  12. 2024THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulationcited by 133
38 more
  1. 2023GenSim: Generating Robotic Simulation Tasks via Large Language Modelscited by 125
  2. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 123
  3. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 116
  4. 2023Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learningcited by 115
  5. 2024URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Imagescited by 111
  6. 2023Synthetic Experience Replaycited by 101
  7. 2023Diffusion Models for Reinforcement Learning: A Surveycited by 91
  8. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 84
  9. 2025OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interactioncited by 71
  10. 2024Prediction with Action: Visual Policy Learning via Joint Denoising Processcited by 70
  11. 2023Learning Generalizable Manipulation Policies with Object-Centric 3D Representationscited by 61
  12. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 61
  13. 2023Diffusion Reward: Learning Rewards via Conditional Video Diffusioncited by 57
  14. 2023Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Planscited by 52
  15. 2024GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMscited by 52
  16. 2024SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deploymentcited by 52
  17. 2025Pure Vision Language Action (VLA) Models: A Comprehensive Surveycited by 49
  18. 2024Dream to Manipulate: Compositional World Models Empowering Robot Imitation Learning with Imaginationcited by 45
  19. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 41
  20. 2024Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learningcited by 35
  21. 2024Surveying the Effects of Quality, Diversity, and Complexity in Synthetic Data From Large Language Modelscited by 35
  22. 2025Don't Blind Your VLA: Aligning Visual Representations for OOD Generalizationcited by 35
  23. 2023World Models via Policy-Guided Trajectory Diffusioncited by 34
  24. 2024Entropy-regularized Diffusion Policy with Q-Ensembles for Offline Reinforcement Learningcited by 31
  25. 2024Video Diffusion Models: A Surveycited by 30
  26. 2024CyberDemo: Augmenting Simulated Human Demonstration for Real-World Dexterous Manipulationcited by 28
  27. 2025Video2Policy: Scaling up Manipulation Tasks in Simulation through Internet Videoscited by 26
  28. 2023SPRINT: Scalable Policy Pre-Training via Language Instruction Relabelingcited by 24
  29. 2023SpawnNet: Learning Generalizable Visuomotor Skills from Pre-trained Networkscited by 24
  30. 2025Inference-Time Enhancement of Generative Robot Policies via Predictive World Modelingcited by 24
  31. 2025ReBot: Scaling Robot Learning with Real-to-Sim-to-Real Robotic Video Synthesiscited by 22
  32. 2025Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimizationcited by 21
  33. 2023Kinematic-aware Prompting for Generalizable Articulated Object Manipulation with LLMscited by 19
  34. 2024Generative Image as Action Modelscited by 18
  35. 2024Policy Adaptation via Language Optimization: Decomposing Tasks for Few-Shot Imitationcited by 18
  36. 2024Semantically Controllable Augmentations for Generalizable Robot Learningcited by 18
  37. 2023Diagnosis, Feedback, Adaptation: A Human-in-the-Loop Framework for Test-Time Policy Adaptationcited by 16
  38. 2023Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Modelscited by 16

50 most cited of 104 All 104 (JSON)