NeuronsGym: A Hybrid Framework and Benchmark for Robot Tasks with Sim2Real Policy Learning

摘要

The rise of embodied AI has greatly improved the possibility of general mobile agent systems. At present, many evaluation platforms with rich scenes, high visual fidelity and various application scenarios have been developed. In this paper, we present a hybrid framework named NeuronsGym that can be used for policy learning of robot tasks, covering a simulation platform for training policy, and a physical system for studying sim2real problems. Unlike most current single-task, slow-moving robotic platforms, our framework provides agile physical robots with a wider range of speeds, and can be employed to train robotic navigation and confrontation policies. At the same time, in order to evaluate the safety of robot navigation, we propose a safety-weighted path length (SFPL) to improve the safety evaluation in the current mobile robot navigation. Based on this platform, we build a new benchmark for navigation and confrontation tasks under this platform by comparing the current mainstream sim2real methods, and hold the 2022 IEEE Conference on Games (CoG) RoboMaster sim2real challenge. We release the codes of this framework\footnote{\url{https://github.com/DRL-CASIA/NeuronsGym}} and hope that this platform can promote the development of more flexible and agile general mobile agent algorithms.