Assistive VR Gym

Assistive VR Gym (AVR Gym) is a virtual reality framework that enables real people to interact with virtual assistive robots through physics simulation.

With virtual reality, simulation-trained assistive robots can be evaluated with real human motion/actions without putting real people at risk. In doing so, VR can help bridge the gap between simulations and the real world. AVR Gym is built on Assistive Gym, a physics-based simulation framework for physical human-robot interaction and robotic assistance.

Paper

A paper on Assistive VR Gym can be found at https://arxiv.org/abs/2007.04959

Z. Erickson*, Y. Gu*, and C. C. Kemp, "Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots", IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020.

@article{erickson2020avrgym,
  title={Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots},
  author={Erickson, Zackory and Gu, Yijun and Kemp, Charles C.},
  journal={IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  year={2020}
}

Assistive VR Gym Installation

Installation instructions for VR an Assistive VR Gym can be found on the Installation Wiki page

Getting Started in VR

Examples for using VR and evaluating pretrained assistive robot control policies in VR can be found on the Testing Assistive VR Gym with Pretrained Policies Wiki page.