SeaWave is a Robotic Manipulation with Progressive Reasoning Tasks benchmark based on a realistic robotic manipulation simulator. Specifically, the SeaWave benchmark builds a new high-fidelity digital twin scene based on Unreal Engine 5, which includes 40K natural language instructions generated by ChatGPT for a detailed evaluation of robot manipulation.
In our experiments, we used 1 NVIDIA GeForce RTX 3090 GPU. And the simulator occupies approximately 2 to 3GB of GPU memory.
See simulator details.
python src/main.py
python src/eval.py
@misc{ren2024surferprogressivereasoningworld,
title={Surfer: Progressive Reasoning with World Models for Robotic Manipulation},
author={Pengzhen Ren and Kaidong Zhang and Hetao Zheng and Zixuan Li and Yuhang Wen and Fengda Zhu and Mas Ma and Xiaodan Liang},
year={2024},
eprint={2306.11335},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2306.11335},
}
This repository is released under the Apache 2.0 license as found in the LICENSE file.