PR2打造物理与视觉逼真的仿人机器人仿真平台，支持教学与竞赛。
PR2: A Physics- and Photo-realistic Humanoid Testbed with Pilot Study in Competition
- 构建高保真物理与视觉仿真环境，支持复杂场景与算法测试
- 已用于全国大学生仿人机器人竞赛，吸引137支队伍参与
- 适合机器人教育、科研及竞赛使用，开源可复现
本文介绍了物理与视觉逼真仿人机器人测试平台PR2的开发，旨在促进具身人工智能与机器人学的协同研究。PR2提供高质量场景渲染与机器人动力学仿真，支持（i）利用多种数字资产创建多样化场景，（ii）集成先进感知或基础模型，（iii）基于环境反馈实现动态仿人机器人行为的规划与控制。PR2的测试版已部署于全国大学生全尺寸仿人机器人竞赛的仿真赛道，四个月内吸引137支队伍、超400名参与者。比赛涵盖传统双足行走任务，以及新颖的运-操一体化与语言指令驱动的物体搜索挑战，首次在公开高校机器人竞赛中实现。赛后分析建议未来赛事应更注重运动与操作、感知的融合。通过https://github.com/pr2-humanoid/PR2-Platform开源PR2平台，我们致力于推动仿人机器人教育与训练的发展。视频演示：https://pr2-humanoid.github.io/
原文摘要 · Abstract (English)
This paper presents the development of a Physics-realistic and Photo-realistic humanoid robot testbed, PR2, to facilitate collaborative research between Embodied Artificial Intelligence (Embodied AI) and robotics. PR2 offers high-quality scene rendering and robot dynamic simulation, enabling (i) the creation of diverse scenes using various digital assets, (ii) the integration of advanced perception or foundation models, and (iii) the implementation of planning and control algorithms for dynamic humanoid robot behaviors based on environmental feedback. The beta version of PR2 has been deployed for the simulation track of a nationwide full-size humanoid robot competition for college students, attracting 137 teams and over 400 participants within four months. This competition covered traditional tasks in bipedal walking, as well as novel challenges in loco-manipulation and language-instruction-based object search, marking a first for public college robotics competitions. A retrospective analysis of the competition suggests that future events should emphasize the integration of locomotion with manipulation and perception. By making the PR2 testbed publicly available at https://github.com/pr2-humanoid/PR2-Platform, we aim to further advance education and training in humanoid robotics. Video demonstration: https://pr2-humanoid.github.io/
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