Skip to main content

Genesis

Genesis
 Paper arXiv Code


Genesis integrates various physics solvers and their coupling into a unified framework. This core physics engine is further enhanced by a generative agent framework that operates at an upper level, aiming toward fully automated data generation for robotics and beyond.

Official Materials​

Performance Report​

This document contains a detailed report on Genesis's performance (FPS), comparatively analyzed alongside other GPU-accelerated robotics simulators (Mujoco, IsaacGym, Maniskill) through a series of tests involving but not limited to static and dynamic scenes, self-collisions, continuous collisions, and object manipulation/grasping.


The document concludes that Genesis performs fast on both per-environment settings and parallel environment settings, with a total FPS scaling linearly with number of parallel environments up to over 32768 envs.

Testing shows Genesis performs up to 8.8x faster than Maniskill in grasping-with-path-following scenario (gripper asked to follow simple motion trajectory)