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Assistive Gym

Assistive Gym is a physics-based simulation framework for physical human-robot interaction and robotic assistance.

Assistive Gym is integrated into the OpenAI Gym interface, enabling the use of existing reinforcement learning and control algorithms to teach robots how to interact with people.

Paper

A paper on Assistive Gym can be found at https://arxiv.org/pdf/1910.04700.pdf

Z. Erickson, V. Gangaram, A. Kapusta, C. K. Liu, and C. C. Kemp, “Assistive Gym: A Physics Simulation Framework for Assistive Robotics”, IEEE International Conference on Robotics and Automation (ICRA), 2020.

@article{erickson2020assistivegym,
  title={Assistive Gym: A Physics Simulation Framework for Assistive Robotics},
  author={Erickson, Zackory and Gangaram, Vamsee and Kapusta, Ariel and Liu, C. Karen and Kemp, Charles C.},
  journal={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2020}
}