RoboHive: A Unified Framework for Robot Learning

We present RoboHive, a comprehensive software platform and ecosystem for research in the field of Robot Learning and Embodied Artificial Intelligence. Our platform encompasses a diverse range of pre-existing and novel environments, including dexterous manipulation with the Shadow Hand, whole-arm man...

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Bibliographic Details
Published in:arXiv.org 2023-10
Main Authors: Kumar, Vikash, Shah, Rutav, Zhou, Gaoyue, Moens, Vincent, Caggiano, Vittorio, Vakil, Jay, Gupta, Abhishek, Rajeswaran, Aravind
Format: Article
Language:English
Subjects:
Artificial intelligence
Device driver programs
Locomotion
Multiagent systems
Robot dynamics
Robot learning
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Summary:We present RoboHive, a comprehensive software platform and ecosystem for research in the field of Robot Learning and Embodied Artificial Intelligence. Our platform encompasses a diverse range of pre-existing and novel environments, including dexterous manipulation with the Shadow Hand, whole-arm manipulation tasks with Franka and Fetch robots, quadruped locomotion, among others. Included environments are organized within and cover multiple domains such as hand manipulation, locomotion, multi-task, multi-agent, muscles, etc. In comparison to prior works, RoboHive offers a streamlined and unified task interface taking dependency on only a minimal set of well-maintained packages, features tasks with high physics fidelity and rich visual diversity, and supports common hardware drivers for real-world deployment. The unified interface of RoboHive offers a convenient and accessible abstraction for algorithmic research in imitation, reinforcement, multi-task, and hierarchical learning. Furthermore, RoboHive includes expert demonstrations and baseline results for most environments, providing a standard for benchmarking and comparisons. Details: https://sites.google.com/view/robohive
ISSN:2331-8422