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Soft Robot Simulators

Overview​

  • SoftZoo: a soft robot co-design benchmark for locomotion in diverse environments
  • EvoGym: a large-scale benchmark for co-optimizing the design and control of soft robots.

SoftZoo​

SoftZoo is a soft robot co-design benchmark for locomotion in diverse environments

Details

SoftZoo: A Soft Robot Co-design Benchmark For Locomotion In Diverse Environments
  

SoftZoo is a soft robot co-design platform for locomotion in diverse environments that, - supports an extensive, naturally-inspired material set, including the ability to simulate environments such as flat ground, desert, wetland, clay, ice, snow, shallow water, and ocean. - provides a variety of tasks relevant for soft robotics, including fast locomotion, agile turning, and path following, as well as differentiable design representations for morphology and control.

EvoGym​

EvoGym is a large-scale benchmark for co-optimizing the design and control of soft robots.

Details

Evolution Gym: A Large-Scale Benchmark for Evolving Soft Robots
  

Evolution Gym is the first large-scale benchmark for co-optimizing the design and control of soft robots. In the benchmark, each robot is composed of different types of voxels (e.g., soft, rigid, actuators), resulting in a modular and expressive robot design space. The benchmark environments span a wide range of tasks, including locomotion on various types of terrains and manipulation.