ZeroBot: Learning from Scratch in Minutes with Generative Real2Sim

arXiv:2609.34010 · cs.RO, cs.CV · Submitted 2026-09-27 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-27

Updated: 2026-09-27

Comments: IEEE RA-Letters 2026. Project page: https://zerobot-rl.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Action Space — 20× in this paper · explained in 1 episode
• Reinforcement Learning — 10× in this paper · explained in 4 episodes
• Generative Model — 6× in this paper · explained in 2 episodes
• Generative Models — 6× in this paper · explained in 2 episodes
• Generalization — 5× in this paper · explained in 13 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Active Exploration — 1× in this paper · explained in 2 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Algorithmic Improvements — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Digital Twin — 1× in this paper · explained in 4 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Self-Supervised Learning — 1× in this paper · explained in 7 episodes
• System Identification — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

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