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Chemistry3D: Robotic Interaction Benchmark for Chemistry Experiments
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The advent of simulation engines has revolutionized learning and operational efficiency for robots, offering cost-effective and swift pipelines. However, the lack of a universal simulation platform tailored for chemical scenarios impedes progress in robotic manipulation and visualization of reaction processes. Addressing this void, we present Chemistry3D, an innovative toolkit that integrates extensive chemical and robotic knowledge. Chemistry3D not only enables robots to perform chemical experiments but also provides real-time visualization of temperature, color, and pH changes during reactions. Built on the NVIDIA Omniverse platform, Chemistry3D offers interfaces for robot operation, visual inspection, and liquid flow control, facilitating the simulation of special objects such as liquids and transparent entities. Leveraging this toolkit, we have devised RL tasks, object detection, and robot operation scenarios. Additionally, to discern disparities between the rendering engine and the real world, we conducted transparent object detection experiments using Sim2Real, validating the toolkit's exceptional simulation performance. The source code is available at https://github.com/huangyan28/Chemistry3D, and a related tutorial can be found at https://www.omni-chemistry.com.
Forward citations
Cited by 5 Pith papers
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Pipette: An Embodied Simulation Platform, Benchmark, and Data-Efficient Augmentation Framework for Wet-Lab Robotics
Pipette supplies an open wet-lab simulation platform, 11-task benchmark, and perturbation-based augmentation pipeline that raises VLA success rates on sample handling and device tasks from limited demonstrations.
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Pipette: An Embodied Simulation Platform, Benchmark, and Data-Efficient Augmentation Framework for Wet-Lab Robotics
A wet-lab simulation benchmark and success-checked augmentation loop for turning 30 demonstrations per task into policy training data, reported to lift SmolVLA from 44% to 75% simulated success.
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Pipette: An Embodied Simulation Platform, Benchmark, and Data-Efficient Augmentation Framework for Wet-Lab Robotics
With 30 demos per task, simulation replay augmentation raises SmolVLA wet-lab success from ~44% to ~75% and modestly helps π0, while ACT remains competitive as a non-VLA baseline.
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RoboChemist: Long-Horizon and Safety-Compliant Robotic Chemical Experimentation
A dual-loop VLM plus VLA system uses visual prompts and closed-loop monitoring to perform chemistry lab manipulations with reported gains in success and safety-compliance over baseline robot policies.
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Trans2Occ: Voxel Occupancy Estimation and Grasp for Transparent Objects from Simulation to Reality
A simulation-trained model predicts voxel occupancy from single RGB views for transparent object grasping and transfers to real robotic setups without fine-tuning.
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