Advancing Behavior Generation in Mobile Robotics through High-Fidelity Procedural Simulations
<|reference_start|>Advancing Behavior Generation in Mobile Robotics through High-Fidelity Procedural Simulations: This paper introduces YamaS, a simulator integrating Unity3D Engine with Robotic Operating System for robot navigation research and aims to facilitate the development of both Deep Reinforcement Learning (Deep-RL) and Natural Language Processing (NLP). It supports single and multi-agent configurations with features like procedural environment generation, RGB vision, and dynamic obstacle navigation. Unique to YamaS is its ability to construct single and multi-agent environments, as well as generating agent's behaviour through textual descriptions. The simulator's fidelity is underscored by comparisons with the real-world Yamabiko Beego robot, demonstrating high accuracy in sensor simulations and spatial reasoning. Moreover, YamaS integrates Virtual Reality (VR) to augment Human-Robot Interaction (HRI) studies, providing an immersive platform for developers and researchers. This fusion establishes YamaS as a versatile and valuable tool for the development and testing of autonomous systems, contributing to the fields of robot simulation and AI-driven training methodologies.<|reference_end|>
@article{kich2024advancing,
    title={Advancing Behavior Generation in Mobile Robotics through High-Fidelity
  Procedural Simulations},
    author={Victor A. Kich, Jair A. Bottega, Raul Steinmetz, Ricardo B. Grando,
  Ayanori Yorozu, Akihisa Ohya},
    journal={arXiv preprint arXiv:2405.16818},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.16818},
    primaryClass={cs.RO cs.HC}
}