Two years ago, we released Genesis, a universal physics engine for...
Kashu Yamazaki โ๏ธ CoRL@kashu_yamazaki
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Nov 15, 2026
~2 min read
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Two years ago, we released Genesis, a universal physics engine for robotics.
Today, Iโm excited to announce ๐ Eden โ a robot learning framework built from the ground up for agents, unleashing full potential of Genesis.
One task definition. From simulation to real robots. Sim-to-sim and sim-to-real just got easier.
Coding agents build tasks 1.6โ4ร faster than in Isaac Lab.
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Today, Iโm excited to announce ๐ Eden โ a robot learning framework built from the ground up for agents, unleashing full potential of Genesis.
One task definition. From simulation to real robots. Sim-to-sim and sim-to-real just got easier.
Coding agents build tasks 1.6โ4ร faster than in Isaac Lab.
๐งต 1/11
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Eden is built for coding agents: strict typed configs and errors that name the fix.
We timed Claude Opus 5 building new tasks (scene included) until it had a working policy (mean of 5 runs):
Door opening: 2.1ร faster than Isaac Lab
Bin picking: 4.0ร
Deformable cutting: 1.6ร
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We timed Claude Opus 5 building new tasks (scene included) until it had a working policy (mean of 5 runs):
Door opening: 2.1ร faster than Isaac Lab
Bin picking: 4.0ร
Deformable cutting: 1.6ร
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Sim-to-sim and sim-to-real just got easier.
From a config, train, validate, and deploy:
eden train โ thousands of parallel environments in Genesis
eden deploy --mujoco โ sim-to-sim validation
eden deploy โ the real robot
Left: MuJoCo (sim2sim)
Right: hardware (sim2real)
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From a config, train, validate, and deploy:
eden train โ thousands of parallel environments in Genesis
eden deploy --mujoco โ sim-to-sim validation
eden deploy โ the real robot
Left: MuJoCo (sim2sim)
Right: hardware (sim2real)
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66 tasks. 245 composable MDP terms. Thousands of envs per GPU, multi-GPU with DDP.
Bring your trainer: rsl_rl, rl_games, skrl, Stable-Baselines3.
Bring your benchmark: LIBERO, robosuite, SIMPLER, PolaRiS, and more โ already ported.
eden train --task
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Bring your trainer: rsl_rl, rl_games, skrl, Stable-Baselines3.
Bring your benchmark: LIBERO, robosuite, SIMPLER, PolaRiS, and more โ already ported.
eden train --task
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47 robots and 11 composite rigs out of the box: humanoids, quadrupeds, arms, and dexterous hands. Easy to add your own.
G1, Oli, Go2, Franka, UR5e, xArm7, iiwa14, WidowX, YAM, LEAP, Inspire, XHand, Wuji, Sharpaโฆ
Plus 950+ objects to put in front of them.
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G1, Oli, Go2, Franka, UR5e, xArm7, iiwa14, WidowX, YAM, LEAP, Inspire, XHand, Wuji, Sharpaโฆ
Plus 950+ objects to put in front of them.
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21 published policies run as shipped.
SONIC, BeyondMimic, TWIST2, HOMIE, AMO, ProtoMotions, MetaMotivo, ฯ0.5, GR00T, Octoโฆ
Run them out of the box to try, supervise, or generate data:
eden inference --policy <policy name> --vis
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SONIC, BeyondMimic, TWIST2, HOMIE, AMO, ProtoMotions, MetaMotivo, ฯ0.5, GR00T, Octoโฆ
Run them out of the box to try, supervise, or generate data:
eden inference --policy <policy name> --vis
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Human motion in, robot motion out.
Loaders for 12+ motion datasets in one format (AMASS, LAFAN1, OMOMO, ARCTIC, DexYCBโฆ), video-to-motion with GVHMR, and retargeting onto any humanoid or hand โ objects included.
eden retarget
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Loaders for 12+ motion datasets in one format (AMASS, LAFAN1, OMOMO, ARCTIC, DexYCBโฆ), video-to-motion with GVHMR, and retargeting onto any humanoid or hand โ objects included.
eden retarget
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Not just rigid bodies.
Every Genesis solver, plus custom solvers including Mochi โ one solver that couples rigid, cloth, soft-body, and rod dynamics.
Two arms fold a towel. A trained policy wipes a bar with a foam sponge. A cable gets routed into a port. A G1 fills a glass at the tap.
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Every Genesis solver, plus custom solvers including Mochi โ one solver that couples rigid, cloth, soft-body, and rod dynamics.
Two arms fold a towel. A trained policy wipes a bar with a foam sponge. A cable gets routed into a port. A G1 fills a glass at the tap.
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Sensors and rendering that keep up with the sim.
RGB-D, lidar, tactile, IMU, audio, and more. Batched Gaussian-splat scenes across environments. Path tracing with Nyx.
Here: a Go2 scanning a tunnel with lidar, and 16 splat environments rendered in batch.
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RGB-D, lidar, tactile, IMU, audio, and more. Batched Gaussian-splat scenes across environments. Path tracing with Nyx.
Here: a Go2 scanning a tunnel with lidar, and 16 splat environments rendered in batch.
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And some tasks are just fun.
ๆฃฎ็พ ไธ่ฑก brushed in kaisho with a modeled Chinese brush.
The Starry Night in wet acrylic, paint blending as it goes.
Chopin on the piano, with sound synthesized from the pressed keys. Sound on ๐
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ๆฃฎ็พ ไธ่ฑก brushed in kaisho with a modeled Chinese brush.
The Starry Night in wet acrylic, paint blending as it goes.
Chopin on the piano, with sound synthesized from the pressed keys. Sound on ๐
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Eden is open source (Apache-2.0) and on PyPI.
โญ github.com/embodied-ai-neโฆ
๐ embodied-ai-nexus.github.io/Eden
pip install eden-world
Star, fork, and explore! What should we build next??
โญ github.com/embodied-ai-neโฆ
๐ embodied-ai-nexus.github.io/Eden
pip install eden-world
Star, fork, and explore! What should we build next??
