BestMan: 統一シミュレーション・ハードウェアAPIを備えた身体性AI向けモジュール式移動マニピュレータプラットフォーム
BestMan: A Modular Mobile Manipulator Platform for Embodied AI with Unified Simulation-Hardware APIs
PyBulletベースの身体性AI研究用シミュレーションプラットフォームBestManを提案し、知覚・計画・制御の統合、モジュール性、sim-to-real転送、多様なハードウェア対応を実現した。
著者: Kui Yang, Nieqing Cao, Yan Ding, Chao Chen
分類: cs.RO
原文アブストラクト
Embodied Artificial Intelligence (Embodied AI) emphasizes agents' ability to perceive, understand, and act in physical environments. Simulation platforms play a crucial role in advancing this field by enabling the validation and optimization of algorithms. However, existing platforms face challenges such as multilevel technical integration complexity, insufficient modularity, interface heterogeneity, and adaptation to diverse hardware. We present BestMan, a simulation platform based on PyBullet, designed to address these issues. BestMan introduces an integrated multilevel skill chain for seamless coordination across perception, planning, and control; a highly modular architecture for flexible algorithm integration; unified interfaces for smooth simulation-to-reality transfer; and a hardware-agnostic approach for adapting to various mobile manipulator configurations. These features collectively simplify development and enhance platform expandability, making BestMan a valuable tool for Embodied AI research.
