@misc{jin2024diffgen,
  title={DiffGen: Robot Demonstration Generation via Differentiable Physics Simulation, Differentiable Rendering, and Vision-Language Model},
  author={Yang Jin and Jun Lv and Shuqiang Jiang and Cewu Lu},
  year={2024},
  eprint={2405.07309},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2405.07309}
}