Laboratory ManipulationIntermediate
RoboChemGym: A Protocol-Driven Generative Simulation Framework for Long-Horizon Chemical Manipulation
Preprint. The authors built RoboChemGym, a simulation framework that turns written chemistry protocols into long-horizon robot manipulation scenes and expert trajectories, with iterative action/scene refinement and domain randomization. In simulation, generation succeeds on 89.2% of 3-step, 73.4% of 7-step, and 52.3% of 11-step clean protocol tasks; adding 1,000 synthetic trajectories to 10 real demonstrations raised real-robot policy success by about 22–24 points over real-only training. This matters as a scalable data source for autonomous lab robotics.