ICRA 2026 Workshop on Synthetic Data for Robot Learning

Accepted papers (18)

Fetched from OpenReview (v2) on 2026-06-10.

1. Breaking the 3D Dataset Bottleneck: Fast Scalable Generation of Aligned 3D Assets from Scratch for Category 6D Pose Estimation and Robotic Grasping

   Guillaume Duret, Danylo Mazurak, Florence Zara, Liming Chen, Jan Peters · PDF

2. CRAFT: Video Diffusion for Bimanual Robot Data Generation

   Jason Chen, I-Chun Arthur Liu, Gaurav S. Sukhatme, Daniel Seita · PDF

3. Dream to Fly: Model-Based Reinforcement Learning for Vision-Based Drone Flight

   Angel Romero, Ashwin Shenai, Ismail Geles, Elie Aljalbout, Davide Scaramuzza · PDF

4. Emergent Dexterity Via Diverse Resets and Large-Scale Reinforcement Learning

   Patrick Yin, Tyler Westenbroek, Zhengyu Zhang, Joshua Tran, Ignacio Dagnino, Eeshani Shilamkar, Numfor Mbiziwo-Tiapo, Simran Bagaria, Xinlei Liu, Galen Mullins, Andrey Kolobov, Abhishek Gupta · PDF

5. FLASH: Fast Learning via GPU-Accelerated Simulation for High-Fidelity Deformable Manipulation in Minutes

   Siyuan Luo, Bingyang Zhou, Xin Liu, Zhenhao Huang, Gang Yang, Jason Pho, Ziqiu Zeng, Fan Shi · PDF

6. HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning and Adaptation

   Kevin Lin, Ajay Mandlekar, Caelan Reed Garrett, Nikita Chernyadev, Yu Fang, Runyu Ding, Yuqi Xie, Linxi Fan, Yuke Zhu · PDF

7. IFG: Internet-Scale Guidance for Functional Grasping Generation

   Muxin Liu, Mingxuan Li, Kenneth Shaw, Deepak Pathak · PDF

8. Learning Geometry-Aware Nonprehensile Pushing and Pulling with Dexterous Hands

   Yunshuang Li, Yiyang Ling, Gaurav S. Sukhatme, Daniel Seita · PDF

9. Learning on the Fly: Rapid Policy Adaptation via Differentiable Simulation

   Jiahe Pan, Jiaxu Xing, Rudolf Reiter, Yifan Zhai, Elie Aljalbout, Davide Scaramuzza · PDF

10. MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation

    Abhay Deshpande, Maya Guru, Rose Hendrix, Snehal Jauhri, Ainaz Eftekhar, Rohun Tripathi, Max Argus, Jordi Salvador, Haoquan Fang, Matthew Wallingford, Wilbert Pumacay, Yejin Kim, Quinn Pfeifer, Ying-Chun Lee, Piper Wolters, Omar Rayyan, Mingtong Zhang, Jiafei Duan, Karen Farley, Winson Han, Eli VanderBilt, Dieter Fox, Ali Farhadi, Georgia Chalvatzaki, Dhruv Shah, Ranjay Krishna · PDF

11. Physically Consistent Humanoid Loco-Manipulation using Latent Diffusion Models

    Ilyass Taouil, Haizhou Zhao, Angela Dai, Majid Khadiv · PDF

12. Point Bridge: 3D Representations for Cross Domain Policy Learning

    Siddhant Haldar, Lars Johannsmeier, Lerrel Pinto, Abhishek Gupta, Dieter Fox, Yashraj Narang, Ajay Mandlekar · PDF

13. RF-DROPO: Data-Efficient Adaptive Domain Randomization for Zero-Shot Sim-to-Real Transfer in Soft Robotics

    Andrea Protopapa, Gabriele Tiboni, Tatiana Tommasi, Raffaello Camoriano, Christian Duriez, Giuseppe Averta · PDF

14. SplineTM: B-Spline Tire Modeling for Autonomous Racing

    Piotr Kicki, Jan Węgrzynowski, Grzegorz Czechmanowski, Krzysztof Walas · PDF

15. Swim2Real: VLM-Guided System Identification for Sim-to-Real Transfer

    Kevin Qiu, Kyle L. Walker, Mike Yan Michelis, Marek Cygan, Josie Hughes · PDF

16. SynthLA: Synthetic Language--Action Policies for Zero-shot Real-world Manipulation via Structured Perception

    Marco Maccarini, Angelo Moroncelli, Asad Ali Shahid, Samuele Mara, Mirko Nava, Loris Roveda · PDF

17. Vid2Sid: Videos Can Help Close the Sim2Real Gap

    Kevin Qiu, Yu Zhang, Marek Cygan, Josie Hughes · PDF

18. Whole-Body Mobile Manipulation using Offline Reinforcement Learning on Sub-optimal Controllers

    Snehal Jauhri, Vignesh Prasad, Georgia Chalvatzaki · PDF