GRUtopia: Dream General Robots in a City at Scale

Recent works have been exploring the scaling laws in the field of Embodied AI. Given the prohibitive costs of collecting real-world data, we believe the Simulation-to-Real (Sim2Real) paradigm is a crucial step for scaling the learning of embodied models. This paper introduces project GRUtopia, the first simulated interactive 3D society designed for various robots. It features several advancements: (a) The scene dataset, GRScenes, includes 100k interactive, finely annotated scenes, which can be freely combined into city-scale environments. In contrast to previous works mainly focusing on home, GRScenes covers 89 diverse scene categories, bridging the gap of service-oriented environments where general robots would be initially deployed. (b) GRResidents, a Large Language Model (LLM) driven Non-Player Character (NPC) system that is responsible for social interaction, task generation, and task assignment, thus simulating social scenarios for embodied AI applications. (c) The benchmark, GRBench, supports various robots but focuses on legged robots as primary agents and poses moderately challenging tasks involving Object Loco-Navigation, Social Loco-Navigation, and Loco-Manipulation. We hope that this work can alleviate the scarcity of high-quality data in this field and provide a more comprehensive assessment of Embodied AI research. The project is available at https://github.com/OpenRobotLab/GRUtopia.

BBSEA: An Exploration of Brain-Body Synchronization for Embodied Agents

Embodied agents capable of complex physical skills can improve productivity, elevate life quality, and reshape human-machine collaboration. We aim at autonomous training of embodied agents for various tasks involving mainly large foundation models. It is believed that these models could act as a brain for embodied agents; however, existing methods heavily rely on humans for task proposal and scene customization, limiting the learning autonomy, training efficiency, and generalization of the learned policies. In contrast, we introduce a brain-body synchronization ({\it BBSEA}) scheme to promote embodied learning in unknown environments without human involvement. The proposed combines the wisdom of foundation models (``brain'') with the physical capabilities of embodied agents (``body''). Specifically, it leverages the ``brain'' to propose learnable physical tasks and success metrics, enabling the ``body'' to automatically acquire various skills by continuously interacting with the scene. We carry out an exploration of the proposed autonomous learning scheme in a table-top setting, and we demonstrate that the proposed synchronization can generate diverse tasks and develop multi-task policies with promising adaptability to new tasks and configurations. We will release our data, code, and trained models to facilitate future studies in building autonomously learning agents with large foundation models in more complex scenarios. More visualizations are available at \href{https://bbsea-embodied-ai.github.io}{https://bbsea-embodied-ai.github.io}

RL-ViGen: A Reinforcement Learning Benchmark for Visual Generalization

Visual Reinforcement Learning (Visual RL), coupled with high-dimensional observations, has consistently confronted the long-standing challenge of generalization. Despite the focus on algorithms aimed at resolving visual generalization problems, we argue that the devil is in the existing benchmarks as they are restricted to isolated tasks and generalization categories, undermining a comprehensive evaluation of agents' visual generalization capabilities. To bridge this gap, we introduce RL-ViGen: a novel Reinforcement Learning Benchmark for Visual Generalization, which contains diverse tasks and a wide spectrum of generalization types, thereby facilitating the derivation of more reliable conclusions. Furthermore, RL-ViGen incorporates the latest generalization visual RL algorithms into a unified framework, under which the experiment results indicate that no single existing algorithm has prevailed universally across tasks. Our aspiration is that RL-ViGen will serve as a catalyst in this area, and lay a foundation for the future creation of universal visual generalization RL agents suitable for real-world scenarios. Access to our code and implemented algorithms is provided at https://gemcollector.github.io/RL-ViGen/.

MoVie: Visual Model-Based Policy Adaptation for View Generalization

Visual Reinforcement Learning (RL) agents trained on limited views face significant challenges in generalizing their learned abilities to unseen views. This inherent difficulty is known as the problem of $\textit{view generalization}$. In this work, we systematically categorize this fundamental problem into four distinct and highly challenging scenarios that closely resemble real-world situations. Subsequently, we propose a straightforward yet effective approach to enable successful adaptation of visual $\textbf{Mo}$del-based policies for $\textbf{Vie}$w generalization ($\textbf{MoVie}$) during test time, without any need for explicit reward signals and any modification during training time. Our method demonstrates substantial advancements across all four scenarios encompassing a total of $\textbf{18}$ tasks sourced from DMControl, xArm, and Adroit, with a relative improvement of $\mathbf{33}$%, $\mathbf{86}$%, and $\mathbf{152}$% respectively. The superior results highlight the immense potential of our approach for real-world robotics applications. Videos are available at https://yangsizhe.github.io/MoVie/ .