robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Yuke Zhu; Josiah Wong; Ajay Mandlekar; Roberto Martín-Martín; Abhishek Joshi; Kevin Lin; Abhiram Maddukuri; Soroush Nasiriany; Yifeng Zhu

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Robotics 2025-01-22 v3 Artificial Intelligence Machine Learning

Authors: Yuke Zhu , Josiah Wong , Ajay Mandlekar , Roberto Martín-Martín , Abhishek Joshi , Kevin Lin , Abhiram Maddukuri , Soroush Nasiriany , Yifeng Zhu

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Abstract

robosuite is a simulation framework for robot learning powered by the MuJoCo physics engine. It offers a modular design for creating robotic tasks as well as a suite of benchmark environments for reproducible research. This paper discusses the key system modules and the benchmark environments of our new release robosuite v1.5.

Keywords

simulation

Cite

@article{arxiv.2009.12293,
  title  = {robosuite: A Modular Simulation Framework and Benchmark for Robot Learning},
  author = {Yuke Zhu and Josiah Wong and Ajay Mandlekar and Roberto Martín-Martín and Abhishek Joshi and Kevin Lin and Abhiram Maddukuri and Soroush Nasiriany and Yifeng Zhu},
  journal= {arXiv preprint arXiv:2009.12293},
  year   = {2025}
}

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