We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 common articulated object categories along with high-level utilities for use creating custom articulated assets in Blender. We also provide an export pipeline to integrate the resulting assets along with their physical properties into common robotics simulators. Experiments demonstrate that assets sampled from these generators are effective for movable object segmentation, training generalizable reinforcement learning policies, and sim-to-real transfer of imitation learning policies.

翻译：我们介绍了Infinigen-Articulated，这是一个用于为机器人仿真生成逼真、程序化生成的关节化资产的工具包。我们包含了18个常见关节化物体类别的程序化生成器，以及用于在Blender中创建自定义关节化资产的高级实用工具。我们还提供了一个导出管道，用于将生成的资产及其物理属性集成到常见的机器人仿真器中。实验表明，从这些生成器中采样的资产对于可移动物体分割、训练可泛化的强化学习策略以及模仿学习策略的仿真到现实迁移是有效的。