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 used 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 both human and robot control policies by interfacing it with state-of-the-art external planning and learning libraries.


GitHub Paper(coming soon)

Watch Our Introduction Video

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.

CareAvatars

RCareWorld supports realistic human modeling with musculoskeltal SMPL-X model. 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.

Environments

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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Multiple Interfaces

RCareWorld uses Unity as server for visual rendering and physics simulation, and provides Python, ROS, and VR interfaces. With CareAvatars for human modeling, and CareHomes for assistive environment modeling, RCareWorld provides realistic human modeling and environment modeling.

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Cite Us

Cite RCareWorld as @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 = {---}, year = {---}, }