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Genesis: A Generative and Universal Physics Engine for Robotics and Beyond
Character Motion Generation
"A miniature Wukong holding a stick in his hand sprints across a table surface for 3 seconds, then jumps into the air, and swings his right arm downward during landing. The camera begins with a close-up of his face, then steadily follows the character while gradually zooming out. When the monkey leaps into the air, at the highest point of the jump, the motion pauses for a few seconds. The camera circles around the character for 360 degrees, and slowly ascends, before the action resumes."
"A Japanese samurai performs boxing."
"A Chinese soldier performs the Gangnam Style dance."
"A Roman soldier walks forward like a zombie."
Robotic Policy Generation
Genesis aims to use generative robotic agent and physics engine to automatically generate robotic policies and demonstration data for various skills under different scenarios. For the high-level motivation and more details behind the module, see RoboGen and our upcoming paper."A mobile franka arm heats the corn with the bowl and the microwave."
"A mobile franka arm throws all the objects on the floor into the basket."
"A mobile franka arm re-organizes the books on the table by pushing the brown and the white books to align with the red one."
"A fleet of 24 drones (arranged in 4x6) take off together from the ground and perform a flip together."
"A Unitree Go2 Quadraped runs under the rain." (Sim)
"A Unitree H1 humanoid performs single-foot hopping." (Sim, because our robot is broken :( )
"A Unitree H1-2 humanoid walks forward." (Sim2Real)
"A robotic leap hand walks forward like a quadrapad using its all four fingers." (Sim)
"A robotic shadow hand walks forward like a human using only its index and middle fingers." (Sim)
Quadraped locomotion with various gaits (Sim2Real)
Quadraped 2-feet hopping (Sim2Real)
"Quadraped performs handstand with its 2 front legs." (Sim2Real)
Quadraped locomotion with various base heights (Sim2Real)
More Sim2Real Policy Transfer
Quadraped single-backflip
Quadraped double-backflip
3D & Fully Interactive Scene Generation
"A home interior scene with a living room (including a dinning space), a restroom, a study and a bedroom."
"A restaurant interior."
Open-world Articulated Object Generation
We generate articulated of open-set mesh assets, extending beyond categories contained in human-annotated articulated object asset. For more details, see our upcoming paper (under submission now).
Soft Robot
Genesis can simulate generated soft or hybrid (soft skin and rigid skeleton) robot. To get started, check tutorial.
Worm (MPM muscle).
"A walking teapot." (hybrid))
"A gripper that can rotate a box.", attached to a UR5. (MPM + rigid)
A soft gripper navigates a box and picks up a pen cap. (MPM + rigid)
Speech Audio, Facial Animation & Emotion Generation
"Facial animation and speech of the text [Genesis is a physical platform designed for general purpose Robotics/Embodied AI/Physical AI applications]. Emotion transitions from neutral to angry, then to happy".
Generalize across different facial characters and emotions
BibTeX
@misc{Genesis,
author = {Genesis Authors},
title = {Genesis: A Generative and Universal Physics Engine for Robotics and Beyond},
month = {December},
year = {2024},
url = {https://github.com/Genesis-Embodied-AI/Genesis}
}