GenPHRI: Agentic Generative Simulation for Physical Human-Robot Interaction

arXiv:2604.08664 · cs.RO · Submitted 2026-04-09 · Read on arXiv

cs.RO

Submitted: 2026-04-09

Updated: 2026-09-22

Code: https://github.com/Genesis-Embodied-AI/Genesis

Project page: https://rchi-lab.github.io/gen_phri

Terminology

• Point Clouds — 7× in this paper · explained in 2 episodes
• Large Language Model — 6× in this paper
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• Vision-Language Model — 4× in this paper
• Affordance — 3× in this paper · explained in 1 episode
• Fidelity — 3× in this paper · explained in 2 episodes
• Grounding — 3× in this paper · explained in 3 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Vision-Language Models (VLMs) — 3× in this paper · explained in 6 episodes
• Vision-language models — 3× in this paper · explained in 2 episodes
• Actor — 2× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 2× in this paper · explained in 4 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Domain Adaptation — 1× in this paper · explained in 5 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• In-Context Learning — 1× in this paper · explained in 4 episodes
• Large Language Model (LLM) — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation
• SimWorld: An Open-ended Realistic Simulator for Autonomous Agents in Physical and Social Worlds
• High-Fidelity Simulated Data Generation for Real-World Zero-Shot Robotic Manipulation Learning with Gaussian Splatting
• HERMES: Human-to-Robot Embodied Learning from Multi-Source Motion Data for Mobile Dexterous Manipulation
• OSVI-WM: One-Shot Visual Imitation for Unseen Tasks using World-Model-Guided Trajectory Generation
• RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation
• GenSim: Generating Robotic Simulation Tasks via Large Language Models
• Eureka: Human-Level Reward Design via Coding Large Language Models
• MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
• DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning
• Evaluating Text-to-Visual Generation with Image-to-Text Generation
• SAM 3: Segment Anything with Concepts

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