{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T14:23:14Z","timestamp":1783002194530,"version":"3.54.5"},"reference-count":160,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T00:00:00Z","timestamp":1609459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"Data61 Ph.D. Scholarships"},{"DOI":"10.13039\/501100001793","name":"Queensland University of Technology (QUT) through the Centre for Robotics","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001793","id-type":"DOI","asserted-by":"publisher"}]},{"name":"CSIRO\u2019s CERC Postdoctoral Program"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2021]]},"DOI":"10.1109\/access.2021.3068769","type":"journal-article","created":{"date-parts":[[2021,3,25]],"date-time":"2021-03-25T20:14:21Z","timestamp":1616703261000},"page":"51416-51431","source":"Crossref","is-referenced-by-count":249,"title":["A Review of Physics Simulators for Robotic Applications"],"prefix":"10.1109","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5970-1624","authenticated-orcid":false,"given":"Jack","family":"Collins","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6700-2420","authenticated-orcid":false,"given":"Shelvin","family":"Chand","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anthony","family":"Vanderkop","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5012-7224","authenticated-orcid":false,"given":"David","family":"Howard","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","article-title":"Solving Rubik&#x2019;s cube with a robot hand","author":"akkaya","year":"0","journal-title":"arXiv 1910 07113"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.049"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2961053"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8463191"},{"key":"ref31","year":"2020","journal-title":"Fetchit! The Mobile Manipulation Challenge"},{"key":"ref30","author":"leitner","year":"2020","journal-title":"Tidy Up My Room Challenge"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965891"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2015.2448951"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972837"},{"key":"ref28","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1007\/978-3-319-40361-8_2","article-title":"Chrono: An open source multi-physics dynamics engine","author":"tasora","year":"2016","journal-title":"High Performance Computing in Science and Engineering"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2894216"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2019.2908571"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2016.2582210"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2718037"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.3233\/ICA-150503"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.010"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref101","author":"babushkin","year":"2020","journal-title":"jMAVSim"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460487"},{"key":"ref100","article-title":"Flightmare: A flexible quadrotor simulator","author":"song","year":"2020","journal-title":"arXiv 2009 00563"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2019.XV.010"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917694723"},{"key":"ref51","first-page":"357","article-title":"Robust contact generation for robot simulation with unstructured meshes","author":"hauser","year":"2016","journal-title":"Proc 16th Int Symp Robot Res (ISRR)"},{"key":"ref154","article-title":"Interactive differentiable simulation","author":"heiden","year":"2019","journal-title":"arXiv 1905 10706"},{"key":"ref153","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2019.00006"},{"key":"ref156","year":"2021","journal-title":"Robotic Simulation |Unity"},{"key":"ref155","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.14105"},{"key":"ref150","article-title":"Perspectives on Sim2Real transfer for robotics: A summary of the R:SS 2020 workshop","author":"h\u00f6fer","year":"2020","journal-title":"arXiv 2012 03806"},{"key":"ref152","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2020.XVI.099"},{"key":"ref151","article-title":"NeuralSim: Augmenting differentiable simulators with neural networks","author":"heiden","year":"2020","journal-title":"arXiv 2011 04217"},{"key":"ref146","doi-asserted-by":"publisher","DOI":"10.1109\/TEVC.2017.2722101"},{"key":"ref147","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-77538-8_48"},{"key":"ref148","doi-asserted-by":"publisher","DOI":"10.1109\/TCDS.2017.2681181"},{"key":"ref149","doi-asserted-by":"publisher","DOI":"10.1145\/3205455.3205541"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2228858"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1468"},{"key":"ref57","year":"2020","journal-title":"KUKA Innovation Award 2020|KUKA AG"},{"key":"ref56","year":"2020","journal-title":"Medical Robotics for Contagious Diseases Challenge 2020&#x2014;UK-RAS Network"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-bioeng-060418-052502"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793789"},{"key":"ref53","article-title":"Learning particle dynamics for manipulating rigid bodies, deformable objects, and fluids","author":"li","year":"2019","journal-title":"Proc Int Conf Learn Represent"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2800122"},{"key":"ref40","first-page":"5062","article-title":"Self-supervised exploration via disagreement","volume":"97","author":"pathak","year":"2019","journal-title":"Machine Learning Research"},{"key":"ref160","doi-asserted-by":"publisher","DOI":"10.1145\/3067695.3082052"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968568"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2669367"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919887447"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2988642"},{"key":"ref159","first-page":"767","article-title":"SURREAL: Open-source reinforcement learning framework and robot manipulation benchmark","volume":"87","author":"fan","year":"2018","journal-title":"Machine Learning Research"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/UT.2019.8734309"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2792536"},{"key":"ref49","first-page":"334","article-title":"Transferring end-to-end visuomotor control from simulation to real world for a multi-stage task","volume":"78","author":"james","year":"2017","journal-title":"Machine Learning Research"},{"key":"ref157","article-title":"OpenAI gym","author":"brockman","year":"2016","journal-title":"arXiv 1606 01540 [cs]"},{"key":"ref158","author":"achiam","year":"2018","journal-title":"Spinning up in deep reinforcement learning"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419839596"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389727"},{"key":"ref45","first-page":"734","article-title":"Sim-to-real reinforcement learning for deformable object manipulation","author":"matas","year":"2018","journal-title":"arXiv 1806 07851"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1016\/j.trit.2016.03.010"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2014.12.004"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202133"},{"key":"ref41","article-title":"Transfer from simulation to real world through learning deep inverse dynamics model","author":"christiano","year":"0","journal-title":"arXiv 1610 03518"},{"key":"ref44","first-page":"515","article-title":"Learning deep policies for robot bin picking by simulating robust grasping sequences","volume":"78","author":"mahler","year":"2017","journal-title":"Machine Learning Research"},{"key":"ref43","first-page":"262","article-title":"Sim-to-real robot learning from pixels with progressive nets","volume":"78","author":"rusu","year":"2017","journal-title":"Machine Learning Research"},{"key":"ref127","article-title":"Cooperative heterogeneous deep reinforcement learning","author":"zheng","year":"0"},{"key":"ref126","first-page":"5285","article-title":"Scalable trust-region method for deep reinforcement learning using kronecker-factored approximation","author":"wu","year":"2017","journal-title":"Proc 31st Int Conf Neural Inf Process Syst (NIPS)"},{"key":"ref125","article-title":"Evolution strategies as a scalable alternative to reinforcement learning","author":"salimans","year":"2017","journal-title":"arXiv 1703 03864"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696945"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-11900-7_3"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1007\/s43154-020-00022-5"},{"key":"ref129","first-page":"64","article-title":"Deepbots: A webots-based deep reinforcement learning framework for robotics","author":"kirtas","year":"2020","journal-title":"Proc IFIP Int Conf Artif Intell Appl Innov"},{"key":"ref71","year":"2020","journal-title":"MATE ROV competition"},{"key":"ref128","author":"coumans","year":"2017","journal-title":"pybullet a python module for physics simulation in robotics games and machine learning"},{"key":"ref70","year":"2020","journal-title":"RobotX"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594234"},{"key":"ref130","article-title":"GPU-accelerated robotic simulation for distributed reinforcement learning","author":"liang","year":"2018","journal-title":"arXiv 1810 05762"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2970433"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385788"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2016.7761080"},{"key":"ref133","article-title":"Interpretable end-to-end urban autonomous driving with latent deep reinforcement learning","author":"chen","year":"2020","journal-title":"arXiv 2001 08726"},{"key":"ref134","first-page":"19","article-title":"Chrono: An open source multi-physics dynamics engine","author":"tasora","year":"2015","journal-title":"Proc Int Conf High Perform Comput Sci Eng"},{"key":"ref131","article-title":"SoftGym: Benchmarking deep reinforcement learning for deformable object manipulation","author":"lin","year":"2020","journal-title":"arXiv 2011 07215"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/LARS-SBR.2015.15"},{"key":"ref132","article-title":"Self-paced deep reinforcement learning","author":"klink","year":"2020","journal-title":"arXiv 2004 11812"},{"key":"ref79","first-page":"1","article-title":"Towards improved AUV control through learning of periodic signals","author":"kormushev","year":"2013","journal-title":"Proc OCEANS"},{"key":"ref136","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2720851"},{"key":"ref135","article-title":"Gym-Gazebo2, a toolkit for reinforcement learning using ROS 2 and Gazebo","author":"lopez","year":"2019","journal-title":"arXiv 1903 06278"},{"key":"ref138","doi-asserted-by":"publisher","DOI":"10.1145\/3301273"},{"key":"ref137","article-title":"Extending the OpenAI gym for robotics: A toolkit for reinforcement learning using ROS and Gazebo","author":"zamora","year":"2016","journal-title":"arXiv 1608 05742"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2016.2538080"},{"key":"ref139","doi-asserted-by":"publisher","DOI":"10.1109\/ICARSC.2018.8374189"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2197862"},{"key":"ref61","first-page":"496","article-title":"The CHAI libraries","author":"conti","year":"2003","journal-title":"Proc Eurohaptics"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794159"},{"key":"ref64","article-title":"Bullet physics simulation","author":"coumans","year":"2015","journal-title":"Proc ACM SIGGRAPH Courses (SIGGRAPH)"},{"key":"ref140","article-title":"Gym-ignition: Reproducible robotic simulations for reinforcement learning","author":"ferigo","year":"2019","journal-title":"arXiv 1911 01715"},{"key":"ref65","first-page":"3261","article-title":"Soft tissue simulation environment to learn manipulation tasks in autonomous robotic surgery","author":"tagliabue","year":"2020","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst (IROS)"},{"key":"ref141","article-title":"A comparison of humanoid robot simulators: A quantitative approach","author":"ayala","year":"2020","journal-title":"arXiv 2008 04627"},{"key":"ref66","article-title":"Open-sourced reinforcement learning environments for surgical robotics","author":"richter","year":"2019","journal-title":"arXiv 1903 02090"},{"key":"ref142","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1003399"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1155\/2017\/6702919"},{"key":"ref143","doi-asserted-by":"publisher","DOI":"10.1162\/ARTL_a_00101"},{"key":"ref68","year":"2020","journal-title":"Singapore AUV Challenge"},{"key":"ref144","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-019-00989-0"},{"key":"ref2","first-page":"357","volume":"10965","author":"pitonakova","year":"2018","journal-title":"Feature and Performance Comparison of the V-REP Gazebo and ARGoS Robot Simulators"},{"key":"ref69","year":"2020","journal-title":"RoboSub"},{"key":"ref145","doi-asserted-by":"publisher","DOI":"10.1115\/1.4043314"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139807"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2018.02.004"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-019-01062-6"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201707136"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0891-8"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2639067"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/ICARCV.2016.7838739"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2016.00055"},{"key":"ref92","article-title":"AirSim: High-fidelity visual and physical simulation for autonomous vehicles","author":"shah","year":"2017","journal-title":"arXiv 1705 05065"},{"key":"ref105","first-page":"1","article-title":"Missile guidance systems for UAS landing application","author":"stary","year":"2016","journal-title":"Proc 17th Int Conf Mechatronics-Mechatronika (ME)"},{"key":"ref91","doi-asserted-by":"crossref","first-page":"400","DOI":"10.1007\/978-3-642-34327-8_36","article-title":"Comprehensive simulation of quadrotor UAVs using ROS and Gazebo","author":"meyer","year":"2012","journal-title":"Simulation Modeling and Programming for Autonomous Robots"},{"key":"ref104","first-page":"626","article-title":"Simulations on herding a flock of birds away from an aircraft using an unmanned aerial vehicle","author":"aliasghari","year":"2020","journal-title":"Proc Conf Artif Life"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/ICCPS.2018.00021"},{"key":"ref103","first-page":"720","article-title":"Software environment for simulation of UAV multi-agent system","author":"obdr\u017e\u00e1lek","year":"2016","journal-title":"Proc 21st Int Conf Methods Models Autom Robot (MMAR)"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.5772\/5618"},{"key":"ref111","article-title":"Circular shell gripper for handling food products","author":"wang","year":"0","journal-title":"Software Robotic"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0056"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201900185"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1145\/3209811.3209880"},{"key":"ref99","article-title":"UAV depth perception from visual images using a deep convolutional neural network","author":"julian","year":"2017"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2016.2617464"},{"key":"ref97","article-title":"AirSim drone racing lab","author":"madaan","year":"2020","journal-title":"arXiv 2003 05654"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20147"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21683"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972872"},{"key":"ref13","year":"2020","journal-title":"RoboMaster Robotics Competition |Overview"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/100.728221"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2798285"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/RoboSoft48309.2020.9116004"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2794620"},{"key":"ref82","first-page":"1","article-title":"Stonefish: An advanced open-source simulation tool designed for marine robotics, with a ROS interface","author":"cie?lak","year":"2019","journal-title":"Proc OCEANS"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1145\/2463372.2463404"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICSTCC.2016.7790647"},{"key":"ref81","first-page":"1","article-title":"Autonomous 3-D mapping and safe-path planning for underwater terrain reconstruction using multi-level coverage trees","author":"shen","year":"2017","journal-title":"Proc OCEANS"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.dt.2018.03.008"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2660528"},{"key":"ref119","year":"2020","journal-title":"Real Robot Challenge"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202134"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.3390\/s19051068"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0082"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2013.6618149"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759810"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2018.2792278"},{"key":"ref115","first-page":"1689","article-title":"Light-driven soft robot mimics caterpillar locomotion in natural scale","volume":"4","author":"rog\u00f3?","year":"0","journal-title":"Adv Opt Mater"},{"key":"ref120","article-title":"Multi-goal reinforcement learning: Challenging robotics environments and request for research","author":"plappert","year":"2018","journal-title":"arXiv 1802 09464"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/IWCMC.2018.8450505"},{"key":"ref121","first-page":"1348","article-title":"PyRoboLearn: A python framework for robot learning practitioners","volume":"100","author":"delhaisse","year":"2020","journal-title":"Proc Conf Robot Learn (PMLR)"},{"key":"ref122","article-title":"Gym-Gazebo2, a toolkit for reinforcement learning using ROS 2 and Gazebo","author":"lopez","year":"2019","journal-title":"arXiv 1903 06278"},{"key":"ref123","author":"lee","year":"2020","journal-title":"Animal Robots Learning Quadrupedal Locomotion Over Challenging Terrain"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.3390\/s20061550"},{"key":"ref86","year":"2020","journal-title":"UAV Challenge"},{"key":"ref87","year":"2020","journal-title":"Int Aerial Robotics Competition"},{"key":"ref88","year":"2020","journal-title":"NASA SAND Challenge"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/9312710\/09386154.pdf?arnumber=9386154","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,26]],"date-time":"2022-01-26T18:15:24Z","timestamp":1643220924000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9386154\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021]]},"references-count":160,"URL":"https:\/\/doi.org\/10.1109\/access.2021.3068769","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021]]}}}