Igibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes

Bokui Shen,Fei Xia,Chengshu Li,Roberto Martin-Martin,Linxi Fan,Guanzhi Wang,Claudia Perez-D'Arpino,Shyamal Buch,Sanjana Srivastava,Lyne Tchapmi,Micael Tchapmi,Kent Vainio,Josiah Wong,Li Fei-Fei,Silvio Savarese

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2021）

Cited 159|Views232

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Key words

interactive tasks,simulation environment,robotic solutions,large-scale realistic scenes,fully interactive home-sized scenes,rigid objects,articulated objects,real-world homes,high-quality virtual sensor signals,sampling-based motion planners,robot bases,human-iGibson interface,iGibson 1.0,object distribution,object layout,collision-free trajectories,robot arms,human demonstrations,visual representations,navigation agents,imitation learning,manipulation behaviors

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