assistive-vr-gym

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assistive-vr-gym

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Assistive VR Gym (AVR Gym), enabling real people to interact with virtual assistive robots through physics simulation.

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# Assistive VR Gym

Assistive VR Gym (AVR Gym) is a virtual reality framework that enables real people to interact with virtual assistive robots through physics simulation.

With virtual reality, simulation-trained assistive robots can be evaluated with real human motion/actions without putting real people at risk.
In doing so, VR can help bridge the gap between simulations and the real world.
AVR Gym is built on [Assistive Gym](https://github.com/Healthcare-Robotics/assistive-gym), a physics-based simulation framework for physical human-robot interaction and robotic assistance.

![Assistive VR Gym 1](https://raw.githubusercontent.com/Healthcare-Robotics/assistive-vr-gym/master/images/avr_gym_1.jpg "Assistive VR Gym 1")

![Assistive VR Gym 2](https://raw.githubusercontent.com/Healthcare-Robotics/assistive-vr-gym/master/images/avr_gym_2.jpg "Assistive VR Gym 2")

### Paper
A paper on Assistive VR Gym can be found at https://arxiv.org/abs/2007.04959

Z. Erickson*, Y. Gu*, and C. C. Kemp, "Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots", IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2020.
```
@article{erickson2020avrgym,
  title={Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots},
  author={Erickson, Zackory and Gu, Yijun and Kemp, Charles C.},
  journal={IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
  year={2020}
}
```

## Assistive VR Gym Installation
Installation instructions for VR an Assistive VR Gym can be found on the [Installation Wiki page](https://github.com/Healthcare-Robotics/assistive-vr-gym/wiki/1.-Install)

## Getting Started in VR
Examples for using VR and evaluating pretrained assistive robot control policies in VR can be found on the [Testing Assistive VR Gym with Pretrained Policies](https://github.com/Healthcare-Robotics/assistive-vr-gym/wiki/3.-Testing-Assistive-VR-Gym-with-Pretrained-Policies) Wiki page.

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