RCareWorld: A Human-centric Simulation World for
Caregiving Robots

Accepted in IROS 2022.
Winner of RoboCup Best Paper Award, finalist of ABB Best Paper/Best Student Paper Award at IROS 2022.
Winner of Unity for Humanity Grant 2025.

Paper Video Presentation Code

What is RCareWorld?

RCareWorld is a human-centric simulation world for physical and social robot caregiving with support for realistic human modeling, home environments with multiple levels of accessibility, and robots for assistance. This simulation is designed using inputs from stakeholders such as expert occupational therapists, care recipients, and caregivers. It models the human avatars with musculoskeletal models and XPBD-based flesh, and builds them with clinical data. It provides a variety of benchmark ADL tasks in realistic settings. It interfaces with various physics engines to model rigid, articulated, and deformable objects. It provides the capability to plan, control, and learn human and robot control policies by interfacing with state-of-the-art external planning and learning libraries.

CareAvatars

Human with musculoskeletal and skeletal models with soft tissue. 6 avatars with different mobility limitations based on clinical data.

CareHomes

Caregiving-oriented home environment assets modified from the Matterport dataset with three levels of accessibilities.

Robots

Robots commonly used in physical and social caregiving settings. Also supporting custom robots with URDF.

Tasks

6 realistic robotic caregiving tasks providing meaningful assistance to care recipients with activities of daily living.

Worldwide User Community

Cite Us

@article{RCareWorld,
  author    = {Ruolin Ye and Wenqiang Xu and Haoyuan Fu and Rajat Kumar Jenamani and Vy Nguyen and Cewu Lu and Katherine Dimitropoulou and Tapomayukh Bhattacharjee},
  title     = {RCareWorld: A Human-centric Simulation World for Caregiving Robots},
  journal   = {IROS},
  year      = {2022},
}