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arXiv · 2405.16818

Advancing Behavior Generation in Mobile Robotics through High-Fidelity Procedural Simulations

Victor A. Kich·Jair A. Bottega·Raul Steinmetz·Ricardo B. Grando·Ayanori Yorozu·Akihisa Ohya
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Abstract

This paper introduces YamaS, a simulator integrating Unity3D Engine with Robotic Operating System for robot navigation research and aims to facilitate the development of both Deep Reinforcement Learning (Deep-RL) and Natural Language Processing (NLP). It supports single and multi-agent configurations with features like procedural environment generation, RGB vision, and dynamic obstacle navigation. Unique to YamaS is its ability to construct single and multi-agent environments, as well as generating agent's behaviour through textual descriptions. The simulator's fidelity is underscored by comparisons with the real-world Yamabiko Beego robot, demonstrating high accuracy in sensor simulations and spatial reasoning. Moreover, YamaS integrates Virtual Reality (VR) to augment Human-Robot Interaction (HRI) studies, providing an immersive platform for developers and researchers. This fusion establishes YamaS as a versatile and valuable tool for the development and testing of autonomous systems, contributing to the fields of robot simulation and AI-driven training methodologies.

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Victor A. Kich, Jair A. Bottega, Raul Steinmetz, Ricardo B. Grando, Ayanori Yorozu, Akihisa Ohya. 2024-05-27. Advancing Behavior Generation in Mobile Robotics through High-Fidelity Procedural Simulations. https://arxiv.org/abs/2405.16818

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