Abhishek Joshiwill present his MSE talk "Procedural Generation of Articulated Simulation-Ready Assets" TODAY (Monday, November 17, 2025) at 2:30pm in Friend 125. Thesis adviser: Jia Deng, Tom Silver (reader) Abstract: While simulated environments have proven effective for training robots, the lack of high-quality articulated assets makes it difficult for robots to learn new skills involving such objects. To this end, we introduce Infinigen-Articulated, a toolkit for creating realistic, diverse, procedurally generated articulated assets for robot simulation. We introduce procedural generators for 18 common household articulated object categories, along with tools to create custom articulated assets in Blender and export them directly to standard simulation formats including information such as joint dynamics, material physics, collision meshes, and semantic metadata. Experiments demonstrate that assets sampled from these generators are effective for movable part segmentation, training generalizable reinforcement learning policies, and sim-to-real transfer of imitation learning policies.