RoboChemGym: A Protocol-Driven Generative Simulation Framework for Long-Horizon Chemical Manipulation

Abstract:Wet-lab experimentation serves as the gold standard for hypothesis verification in scientific discovery; yet it is inherently labor-intensive, costly, and safety-critical. Embodied agents hold the promise of automating these tedious workflows, but their development is hindered by the scarcity of real-world training data. While simulation offers a scalable alternative for producing demonstrations, current methods primarily target relatively short-horizon tasks with loosely structured interactions, failing to meet the strict procedural constraints and fine-grained manipulation demands of chemical experiments. To bridge this gap, we introduce \textbf{RoboChemGym}, a framework that autonomously generates high-fidelity manipulation demonstrations aligned with real-world experiment protocols, featuring a \textit{self-improving task synthesis} mechanism to iteratively refine task execution and scene configurations, enabling the reliable generation of expert trajectories for complex, multi-object protocols exceeding 10 interaction steps. Furthermore, we introduce a hierarchical benchmark that systematically assesses performance across varying granularities, spanning from atomic operations to full-cycle experimental workflows. RoboChemGym sets a scalable paradigm for the automated data synthesis and capability evaluation of embodied agents in intricate chemical tasks, serving as a critical stepping stone toward fully intelligent laboratories.

Robotics (cs.RO)

arXiv:2610.02708 [cs.RO]

(or arXiv:2610.02708v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.02708 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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