Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash
112 tokens/sec
GPT-4o
8 tokens/sec
Gemini 2.5 Pro Pro
47 tokens/sec
o3 Pro
5 tokens/sec
GPT-4.1 Pro
38 tokens/sec
DeepSeek R1 via Azure Pro
28 tokens/sec
2000 character limit reached

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning (2009.12293v2)

Published 25 Sep 2020 in cs.RO, cs.AI, and cs.LG

Abstract: robosuite is a simulation framework for robot learning powered by the MuJoCo physics engine. It offers a modular design for creating robotic tasks as well as a suite of benchmark environments for reproducible research. This paper discusses the key system modules and the benchmark environments of our new release robosuite v1.0.

Citations (377)

Summary

  • The paper presents a modular simulation framework that enhances reproducibility in robot learning by integrating diverse benchmark tasks and flexible APIs.
  • It utilizes the MuJoCo engine to simulate complex dynamics, allowing rigorous evaluation of various control strategies and learning algorithms.
  • Empirical evaluations with Soft Actor-Critic demonstrate the framework’s ability to differentiate performance across tasks, guiding optimal controller selection.

Overview of robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

The paper presents "robosuite," a comprehensive simulation framework aimed at advancing research in robot learning. This modular framework leverages the MuJoCo physics engine to provide a suite of environments and benchmark tasks pertinent to robot learning. Designed for flexibility and reproducibility, robosuite v1.0 offers a robust platform for developing and evaluating data-driven robotic algorithms.

Modular Architecture of robosuite

robosuite's architectural design is pivotal for its adaptability and extensibility. The framework provides two core APIs: the Modeling APIs and the Simulation APIs. The Modeling APIs facilitate the creation and definition of simulation environments and tasks in a modular and programmatic manner. These APIs generate Simulation Models instantiated by the MuJoCo engine, producing a simulation runtime environment. This setup allows researchers to simulate complex dynamics and interactions using procedural generation of robot models, objects, and environments.

A critical aspect of robosuite is its task modeling capability. Each task is structured to incorporate robot models, object models, and an arena. The robot models can include multiple variants, such as manipulators with different configurations and capabilities. Notably, the framework supports a range of robot controllers, from joint space to Cartesian space controllers, allowing researchers to simulate and test various control strategies. These controllers efficiently transform high-level action commands into torque values executable by the MuJoCo engine.

Benchmarking and Standardized Tasks

robosuite v1.0 includes a set of standardized benchmark tasks essential for rigorous evaluation in robotic research. These tasks include Block Lifting, Door Opening, and Two Arm Coordination, among others. Each task is designed to test the efficacy of different control strategies and learning algorithms under varied conditions and complexities. The tasks are procedurally generated to ensure diversity and robustness in testing.

Significantly, the paper reports benchmarking results using the Soft Actor-Critic (SAC) algorithm across different tasks and robot-controller configurations. These empirical evaluations highlight the framework's capability to support reinforcement learning (RL) and suggest trends in algorithm performance across tasks. Notably, the choice of controller has a substantial impact on learning efficiency and task performance, indicating the importance of selecting appropriate control paradigms in robotic applications.

Contributions and Future Implications

robosuite addresses several challenges in robotic research, notably reproducibility and accessibility. By providing a standardized platform with modular components, robosuite lowers the entry barriers for developing data-driven robot learning solutions. The framework's comprehensive documentation and robust API make it accessible for researchers to contribute and extend the platform.

The paper suggests potential future developments, including expanding the range of tasks, enhancing simulation realism, and fostering community contributions. The results imply potential advancements in sim-to-real transfer, imitation learning, and multi-modal sensory integration. By fostering a collaborative environment for research, robosuite is poised to serve as a cornerstone for experimental validation and benchmarking in robotic learning.

In conclusion, robosuite presents a well-structured and capable simulation framework, facilitating the exploration of innovative robot learning algorithms and methodologies. Its modular design and standardized tasks provide a fertile ground for advancing the state of the art in AI and robotics, with significant implications for both theoretical inquiry and practical applications.