RoboVerse: Towards a Unified Platform, Dataset and Benchmark for
  Scalable and Generalizable Robot Learning
Authors: name: Haoran Geng, name: Feishi Wang, name: Songlin Wei, name: Yuyang Li, name: Bangjun Wang, name: Boshi An, name: Charlie Tianyue Cheng, name: Haozhe Lou, name: Peihao Li, name: Yen-Jen Wang, name: Yutong Liang, name: Dylan Goetting, name: Chaoyi Xu, name: Haozhe Chen, name: Yuxi Qian, name: Yiran Geng, name: Jiageng Mao, name: Weikang Wan, name: Mingtong Zhang, name: Jiangran Lyu, name: Siheng Zhao, name: Jiazhao Zhang, name: Jialiang Zhang, name: Chengyang Zhao, name: Haoran Lu, name: Yufei Ding, name: Ran Gong, name: Yuran Wang, name: Yuxuan Kuang, name: Ruihai Wu, name: Baoxiong Jia, name: Carlo Sferrazza, name: Hao Dong, name: Siyuan Huang, name: Yue Wang, name: Jitendra Malik, name: Pieter Abbeel

Data scaling and standardized evaluation benchmarks have driven significant
advances in natural language processing and computer vision. However, robotics
faces unique challenges in scaling data and establishing evaluation protocols.
Collecting real-world data is resource-intensive and inefficient, while
benchmarking in real-world scenarios remains highly complex. Synthetic data and
simulation offer promising alternatives, yet existing efforts often fall short
in data quality, diversity, and benchmark standardization. To address these
challenges, we introduce RoboVerse, a comprehensive framework comprising a
simulation platform, a synthetic dataset, and unified benchmarks. Our
simulation platform supports multiple simulators and robotic embodiments,
enabling seamless transitions between different environments. The synthetic
dataset, featuring high-fidelity physics and photorealistic rendering, is
constructed through multiple approaches. Additionally, we propose unified
benchmarks for imitation learning and reinforcement learning, enabling
evaluation across different levels of generalization. At the core of the
simulation platform is MetaSim, an infrastructure that abstracts diverse
simulation environments into a universal interface. It restructures existing
simulation environments into a simulator-agnostic configuration system, as well
as an API aligning different simulator functionalities, such as launching
simulation environments, loading assets with initial states, stepping the
physics engine, etc. This abstraction ensures interoperability and
extensibility. Comprehensive experiments demonstrate that RoboVerse enhances
the performance of imitation learning, reinforcement learning, world model
learning, and sim-to-real transfer. These results validate the reliability of
our dataset and benchmarks, establishing RoboVerse as a robust solution for
advancing robot learning.