RoboCasa: New Large-Scale Open-Source Framework for Training Generalist Robots with MuJoCo and MimicGen

May 28, 2024, 05:07 PM

RoboCasa, a new large-scale open-source simulation framework, has been announced. Developed by a team including @yukez, @snasiriany, and others, RoboCasa utilizes generative AI tools to create diverse objects, scenes, and tasks. It scales diversity across robots, kitchens, objects, tasks, and datasets, and provides an easy-to-use interface. The framework leverages procedural generation and is powered by MuJoCo, enabling robot arms, dogs, and humanoids to train safely for daily tasks. RoboCasa also integrates text-to-3D models for asset generation, LLMs for task creation, and teleoperation with synthetic demonstrations for behavior acquisition. Additionally, RoboCasa uses MimicGen for large-scale data generation and plays a pivotal role in the Data Pyramid for training generalist robots. It follows the lineage of robosuite, another simulator developed by the team.