PyRobot: An Open-source Robotics Framework for Research and Benchmarking

Abstract

This paper introduces PyRobot, an open-source robotics framework for research and benchmarking. PyRobot is a light-weight, high-level interface on top of ROS that provides a consistent set of hardware independent mid-level APIs to control different robots. PyRobot abstracts away details about low-level controllers and inter-process communication, and allows non-robotics researchers (ML, CV researchers) to focus on building high-level AI applications. PyRobot aims to provide a research ecosystem with convenient access to robotics datasets, algorithm implementations and models that can be used to quickly create a state-of-the-art baseline. We believe PyRobot, when paired up with low-cost robot platforms such as LoCoBot, will reduce the entry barrier into robotics, and democratize robotics. PyRobot is open-source, and can be accessed via https://pyrobot.org.

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• Integrating Egocentric Localization for More Realistic Point-Goal Navigation Agents
• Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping
• Collaborative Visual Navigation
• Visual Object Recognition in Indoor Environments Using Topologically Persistent Features
• Learning Navigation Subroutines from Egocentric Videos
• Out of the Box: Embodied Navigation in the Real World
• OffWorld Gym: open-access physical robotics environment for real-world reinforcement learning benchmark and research
• SoundSpaces: Audio-Visual Navigation in 3D Environments
• Unsupervised Domain Adaptation for Visual Navigation
• OCID-Ref: A 3D Robotic Dataset with Embodied Language for Clutter Scene Grounding
• RoCUS: Robot Controller Understanding via Sampling
• Hierarchical Cross-Modal Agent for Robotics Vision-and-Language Navigation
• The Surprising Effectiveness of Visual Odometry Techniques for Embodied PointGoal Navigation
• Building Intelligent Autonomous Navigation Agents