RCareWorld: A Human-centric Simulation World for Caregiving Robots

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 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.

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CareAvatars

RCareWorld supports realistic human modeling with musculoskeltal model, and skeletal model with soft tissue. We provide six CareAvatars with different kinds of mobility limitation based on clinical data.


CareHomes

RCareWorld provides caregiving-oriented home environment assets modified from Matterport dataset. We provide modified home environment that has three levels of accessibilities.


Robots

RCareWorld supports robots that are commonly used in physical and social caregiving settings along with custom robots with URDF. On all movable robot joints, there are force and torque sensor.


Caregiving Tasks

RCareWorld provides caregiving-oriented home environment assets modified from Matterport dataset. We provide modified home environment that has three levels of accessibilities.


Comparison with other simulators

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Cite Us

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