

Grutopia
Overview :
GRUtopia is a 3D social simulation platform for various robots that provides a feasible path for robot learning through the Sim2Real paradigm. The platform contains 100k finely annotated interactive scenarios that can be freely combined into city-scale environments, covering 89 different scene categories and providing a foundation for the deployment of general-purpose service robots in service-oriented environments. In addition, GRUtopia includes an NPC system powered by a large language model (LLM) responsible for social interaction, task generation, and allocation, simulating social scenarios in embodied AI applications.
Target Users :
GRUtopia's target audience is researchers and developers in the fields of robotics, artificial intelligence, and machine learning. It is suitable for them because it provides a massive and diverse simulation environment to test and train robotic behavior and interaction in complex urban environments, while alleviating the high cost of collecting real-world data.
Use Cases
Researchers train robots for navigation in urban environments using GRUtopia.
Developers use the GRScenes dataset to train robots to recognize and interact with various objects and scenarios.
Education institutions use GRUtopia as a teaching tool to demonstrate robot learning and application in simulated environments.
Features
GRScenes scene dataset, containing 100k interactive and finely annotated scenes. GRResidents NPC system powered by LLM for social interaction and task generation. GRBench benchmark focusing on tasks such as object localization navigation, social navigation, and positioning manipulation with legged robots as the main agent. Supported simulation demonstration on NVIDIA Omniverse Isaac Sim. Detailed documentation and simple tutorials for basic use of different modules. Supports interacting with NPCs through WebUI. Provides installation guide for local installation or Docker installation and validation.
How to Use
First, ensure the prerequisites for GRUtopia, including the operating system, NVIDIA GPU, and Docker. Install GRUtopia according to the provided installation guide, either locally or with Docker. Launch the simulation by running the demo script after installation, such as h1_city.py or h1_house.py. Use the WebUI to interact with NPCs and simulate social scenarios. Explore the functions and usage of different modules according to the documentation and tutorial. Evaluate and improve robot models using the GRScenes dataset and GRBench benchmark. Participate in the community, provide suggestions and feedback, and work together to promote GRUtopia's development and improvement.
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