RCareWorld: A Human-centric Simulation World for Caregiving Robots Article Swipe
Ruolin Ye
,
Wenqiang Xu
,
Haoyuan Fu
,
Rajat Kumar Jenamani
,
Vy Nguyen
,
Cewu Lu
,
Katherine Dimitropoulou
,
Tapomayukh Bhattacharjee
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2210.10821
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2210.10821
We present RCareWorld, a human-centric simulation world for physical and social robotic caregiving designed with inputs from stakeholders, including care recipients, caregivers, occupational therapists, and roboticists. RCareWorld has realistic human models of care recipients with mobility limitations and caregivers, home environments with multiple levels of accessibility and assistive devices, and robots commonly used for caregiving. It interfaces with various physics engines to model diverse material types necessary for simulating caregiving scenarios, and provides the capability to plan, control, and learn both human and robot control policies by integrating with state-of-the-art external planning and learning libraries, and VR devices. We propose a set of realistic caregiving tasks in RCareWorld as a benchmark for physical robotic caregiving and provide baseline control policies for them. We illustrate the high-fidelity simulation capabilities of RCareWorld by demonstrating the execution of a policy learnt in simulation for one of these tasks on a real-world setup. Additionally, we perform a real-world social robotic caregiving experiment using behaviors modeled in RCareWorld. Robotic caregiving, though potentially impactful towards enhancing the quality of life of care recipients and caregivers, is a field with many barriers to entry due to its interdisciplinary facets. RCareWorld takes the first step towards building a realistic simulation world for robotic caregiving that would enable researchers worldwide to contribute to this impactful field. Demo videos and supplementary materials can be found at: https://emprise.cs.cornell.edu/rcareworld/.
Related Topics
Concepts
Benchmark (surveying)
Field (mathematics)
Robot
Control (management)
Computer science
Fidelity
Human–computer interaction
Set (abstract data type)
Plan (archaeology)
Quality (philosophy)
Artificial intelligence
Mathematics
Pure mathematics
Telecommunications
Geodesy
Epistemology
Programming language
History
Archaeology
Philosophy
Geography
Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2210.10821
- https://arxiv.org/pdf/2210.10821
- OA Status
- green
- Cited By
- 3
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4307073560
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4307073560Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2210.10821Digital Object Identifier
- Title
-
RCareWorld: A Human-centric Simulation World for Caregiving RobotsWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2022Year of publication
- Publication date
-
2022-10-19Full publication date if available
- Authors
-
Ruolin Ye, Wenqiang Xu, Haoyuan Fu, Rajat Kumar Jenamani, Vy Nguyen, Cewu Lu, Katherine Dimitropoulou, Tapomayukh BhattacharjeeList of authors in order
- Landing page
-
https://arxiv.org/abs/2210.10821Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2210.10821Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2210.10821Direct OA link when available
- Concepts
-
Benchmark (surveying), Field (mathematics), Robot, Control (management), Computer science, Fidelity, Human–computer interaction, Set (abstract data type), Plan (archaeology), Quality (philosophy), Artificial intelligence, Mathematics, Pure mathematics, Telecommunications, Geodesy, Epistemology, Programming language, History, Archaeology, Philosophy, GeographyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
3Total citation count in OpenAlex
- Citations by year (recent)
-
2024: 2, 2023: 1Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.field | 181 |
| abstract_inverted_index.first | 195 |
| abstract_inverted_index.found | 224 |
| abstract_inverted_index.human | 29, 81 |
| abstract_inverted_index.learn | 79 |
| abstract_inverted_index.model | 62 |
| abstract_inverted_index.plan, | 76 |
| abstract_inverted_index.robot | 83 |
| abstract_inverted_index.takes | 193 |
| abstract_inverted_index.tasks | 105, 144 |
| abstract_inverted_index.them. | 121 |
| abstract_inverted_index.these | 143 |
| abstract_inverted_index.types | 65 |
| abstract_inverted_index.using | 158 |
| abstract_inverted_index.world | 6, 202 |
| abstract_inverted_index.would | 207 |
| abstract_inverted_index.enable | 208 |
| abstract_inverted_index.field. | 216 |
| abstract_inverted_index.inputs | 15 |
| abstract_inverted_index.learnt | 137 |
| abstract_inverted_index.levels | 43 |
| abstract_inverted_index.models | 30 |
| abstract_inverted_index.policy | 136 |
| abstract_inverted_index.robots | 50 |
| abstract_inverted_index.setup. | 148 |
| abstract_inverted_index.social | 10, 154 |
| abstract_inverted_index.though | 165 |
| abstract_inverted_index.videos | 218 |
| abstract_inverted_index.Robotic | 163 |
| abstract_inverted_index.control | 84, 118 |
| abstract_inverted_index.diverse | 63 |
| abstract_inverted_index.engines | 60 |
| abstract_inverted_index.facets. | 191 |
| abstract_inverted_index.modeled | 160 |
| abstract_inverted_index.perform | 151 |
| abstract_inverted_index.physics | 59 |
| abstract_inverted_index.present | 1 |
| abstract_inverted_index.propose | 99 |
| abstract_inverted_index.provide | 116 |
| abstract_inverted_index.quality | 171 |
| abstract_inverted_index.robotic | 11, 113, 155, 204 |
| abstract_inverted_index.towards | 168, 197 |
| abstract_inverted_index.various | 58 |
| abstract_inverted_index.barriers | 184 |
| abstract_inverted_index.baseline | 117 |
| abstract_inverted_index.building | 198 |
| abstract_inverted_index.commonly | 51 |
| abstract_inverted_index.control, | 77 |
| abstract_inverted_index.designed | 13 |
| abstract_inverted_index.devices, | 48 |
| abstract_inverted_index.devices. | 97 |
| abstract_inverted_index.external | 90 |
| abstract_inverted_index.learning | 93 |
| abstract_inverted_index.material | 64 |
| abstract_inverted_index.mobility | 35 |
| abstract_inverted_index.multiple | 42 |
| abstract_inverted_index.physical | 8, 112 |
| abstract_inverted_index.planning | 91 |
| abstract_inverted_index.policies | 85, 119 |
| abstract_inverted_index.provides | 72 |
| abstract_inverted_index.assistive | 47 |
| abstract_inverted_index.behaviors | 159 |
| abstract_inverted_index.benchmark | 110 |
| abstract_inverted_index.enhancing | 169 |
| abstract_inverted_index.execution | 133 |
| abstract_inverted_index.impactful | 167, 215 |
| abstract_inverted_index.including | 18 |
| abstract_inverted_index.materials | 221 |
| abstract_inverted_index.necessary | 66 |
| abstract_inverted_index.realistic | 28, 103, 200 |
| abstract_inverted_index.worldwide | 210 |
| abstract_inverted_index.RCareWorld | 26, 107, 129, 192 |
| abstract_inverted_index.capability | 74 |
| abstract_inverted_index.caregiving | 12, 69, 104, 114, 156, 205 |
| abstract_inverted_index.contribute | 212 |
| abstract_inverted_index.experiment | 157 |
| abstract_inverted_index.illustrate | 123 |
| abstract_inverted_index.interfaces | 56 |
| abstract_inverted_index.libraries, | 94 |
| abstract_inverted_index.real-world | 147, 153 |
| abstract_inverted_index.recipients | 33, 176 |
| abstract_inverted_index.scenarios, | 70 |
| abstract_inverted_index.simulating | 68 |
| abstract_inverted_index.simulation | 5, 126, 139, 201 |
| abstract_inverted_index.RCareWorld, | 2 |
| abstract_inverted_index.RCareWorld. | 162 |
| abstract_inverted_index.caregivers, | 21, 38, 178 |
| abstract_inverted_index.caregiving, | 164 |
| abstract_inverted_index.caregiving. | 54 |
| abstract_inverted_index.integrating | 87 |
| abstract_inverted_index.limitations | 36 |
| abstract_inverted_index.potentially | 166 |
| abstract_inverted_index.recipients, | 20 |
| abstract_inverted_index.researchers | 209 |
| abstract_inverted_index.therapists, | 23 |
| abstract_inverted_index.capabilities | 127 |
| abstract_inverted_index.environments | 40 |
| abstract_inverted_index.occupational | 22 |
| abstract_inverted_index.roboticists. | 25 |
| abstract_inverted_index.Additionally, | 149 |
| abstract_inverted_index.accessibility | 45 |
| abstract_inverted_index.demonstrating | 131 |
| abstract_inverted_index.high-fidelity | 125 |
| abstract_inverted_index.human-centric | 4 |
| abstract_inverted_index.stakeholders, | 17 |
| abstract_inverted_index.supplementary | 220 |
| abstract_inverted_index.state-of-the-art | 89 |
| abstract_inverted_index.interdisciplinary | 190 |
| abstract_inverted_index.https://emprise.cs.cornell.edu/rcareworld/. | 226 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 8 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/11 |
| sustainable_development_goals[0].score | 0.6200000047683716 |
| sustainable_development_goals[0].display_name | Sustainable cities and communities |
| citation_normalized_percentile |