A list of awesome and popular robot learning environments!
These environments are suitable for research in the areas of Deep Reinforcement Learning, Imitation Learning, and broadly, Embodied AI.
Feel Free to ⭐️ this repo for future updates 📲
| Benchmark | Simulator | Visualization |
|---|---|---|
| DeepMind Control Suite | MuJoCo |  |
| DeepMind Control Manipulation | MuJoCo |  |
| DeepMind Control Generalization Benchmark 2 | MuJoCo |  |
| Meta-World | MuJoCo |  |
| RoboSuite | MuJoCo |  |
| RoboCasa | MuJoCo |  |
| LIBERO | MuJoCo |  |
| RoboHive | MuJoCo |  |
| Franka Kitchen | MuJoCo |  |
| RoboDesk | MuJoCo |  |
| BiGym | MuJoCo |  |
| HumanoidBench | MuJoCo |  |
| LocoMuJoCo | MuJoCo |  |
| RoboPianist | MuJoCo |  |
| Adroit Hand | MuJoCo |  |
| DexMV | MuJoCo |  |
| Safety-Gymnasium | MuJoCo |  |
| ManiSkill | SAPIEN |  |
| DexArt | SAPIEN |  |
| DexDeform | PlasticineLab |  |
| RLBench | CoppeliaSim |  |
| Robot Colosseum | CoppeliaSim |  |
| Ravens | PyBullet |  |
| CALVIN | PyBullet |  |
| VIMA-Bench | PyBullet |  |
| Brax Control Suite | Brax |  |
| NVIDIA Isaac Lab | Isaac Sim |  |
| TRANSIC-Envs | Isaac Gym |  |
| FurnitureBench | Isaac Gym |  |
| NVIDIA Isaac Gym | Isaac Gym |  |
| PixMC | Isaac Gym |  |
| SoftGym | NVIDIA FleX |  |
| OmniGibson | NVIDIA Omniverse |  |
- Want to contribute? Make a Pull Request if you'd like to propose modifications/additions to this repository 🤗
- Choosing a benchmark? Keep in mind that some of these benchmarks share tasks ♻️
- Why reference this repository specifically? I will keep this repository up-to-date ✅