---
publication_id: "OT-2026-000000946"
title: "Training policy neural networks in simulation using scene synthesis machine learning models"
published_at: "2026-09-15T19:03:37.857395Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000946"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/163"
  - "b25j9/163"
  - "g06n3/006"
  - "g06n3/006"
  - "b25j9/16"
  - "b25j9/161"
---

# Training policy neural networks in simulation using scene synthesis machine learning models

## Abstract

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for training a policy neural network for use in controlling a robot. In particular, the policy neural network can be trained in simulation using images generated by a scene synthesis machine learning model.