Advancing Behavior Generation in Mobile Robotics through High-Fidelity Procedural Simulations
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866913364299481088 |
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| author | Kich, Victor A. Bottega, Jair A. Steinmetz, Raul Grando, Ricardo B. Yorozu, Ayanori Ohya, Akihisa |
| author_facet | Kich, Victor A. Bottega, Jair A. Steinmetz, Raul Grando, Ricardo B. Yorozu, Ayanori Ohya, Akihisa |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_16818 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Advancing Behavior Generation in Mobile Robotics through High-Fidelity Procedural Simulations Kich, Victor A. Bottega, Jair A. Steinmetz, Raul Grando, Ricardo B. Yorozu, Ayanori Ohya, Akihisa Robotics Human-Computer Interaction 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. |
| title | Advancing Behavior Generation in Mobile Robotics through High-Fidelity Procedural Simulations |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2405.16818 |