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Genesis: A generative and universal physics engine for robotics and beyond

Speed comparison with popular CPU and GPU-based robotics simulator. Genesis is a comprehensive physics simulation platform designed for general purpose Robotics, Embodied AI, & Physical AI applications.

Zhou Xian*,1, Yiling Qiao*,2, Zhenjia Xu*,3,4,6, Tsun-Hsuan Wang*,5, Zhehuan Chen*,7,8, Juntian Zheng*,1,9, Ziyan Xiong*,9, Yian Wang*,7, Mingrui Zhang*,10,11, Pingchuan Ma*,5, Yufei Wang*,1, Zhiyang Dou*,13,14, Byungchul Kim 5, Yunsheng Tian 5, Yipu Chen 12, Xiaowen Qiu 7, Chunru Lin 7, Tairan He 1, Zilin Si 1, Yunchu Zhang 16, Zhanlue Yang 11, Tiantian liu 11, Tianyu Li 12, Kashu Yamazaki 1, Hongxin Zhang 7, Huy Ha 3, 4, Yu Zhang 15, Michael Liu 1,17, Shaokun Zheng 9, Zipeng Fu 4, Qi Wu 4, Yiran Geng 8, Feng Chen 9,13, Milky, Yuanming Hu 11, Guanya Shi 1, Lingjie Liu 14, Taku Komura 13, Zackory Erickson 1, David Held 1, Minchen Li 1, Linxi "Jim" Fan 6, Yuke Zhu 6,18, Wojciech Matusik 5, Dan Gutfreund 19, Shuran Song 3,4, Daniela Rus 5, Ming Lin 2, Bo Zhu 12, Katerina Fragkiadaki 1, Chuang Gan 7,19 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19

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