robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín

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 v1.0.