RoboVerseOrg/RoboVerse

💡 News

• [2025-04-10] RoboVerse gets accepted by RSS 2025!
• [2025-04-03] Code released! This codebase is actively evolving, and we are continuously working to improve it. Contributions from the open-source community are highly encouraged, and we welcome feedback and bug reports through the GitHub Issues page.

🚀 Getting Started

RoboVerse now installs as the downstream roboverse-py package. The core metasim Python package is resolved from the standalone MetaSim repository, while this repository provides RoboVerse tasks, robots, scenes, assets, learning code, and examples.

git clone https://github.com/RoboVerseOrg/RoboVerse.git
cd RoboVerse
python -m pip install -e ".[mujoco]"

For development:

python -m pip install -e ".[dev,mujoco]"

Please refer to the documentation for simulator-specific installation details.

We also provide detailed tutorials for getting started.

🥰 Contributing

Contributions are welcome! Please see CONTRIBUTING.md for more details on how to contribute to this project.

🎅 Wish List

If you have any feature requests (e.g., support for new simulators, new tasks, new workflows, or new features), feel free to add them to the Wish List section of our GitHub Discussions.

You can also upvote the requests you find most relevant or important. We'll prioritize updates based on the number of upvotes each request receives!

📖 License and Acknowledgments

The RoboVerse source code is licensed under the Apache License 2.0.

The MetaSim core package is maintained separately in RoboVerseOrg/MetaSim.

RoboVerse makes use of the following simulation frameworks, renderers, and libraries:

• Isaac Lab, which is built on top of Isaac Sim
• Isaac Gym
• MuJoCo
• SAPIEN
• PyBullet
• Genesis
• cuRobo
• PyRep, which is built on top of CoppeliaSim
• Blender

RoboVerse also integrates data from the following projects:

• RLBench
• Maniskill
• LIBERO
• Meta-World
• robosuite
• GraspNet
• ARNOLD
• GAPartNet
• GAPartManip
• UniDoorManip
• SimplerEnv
• RLAfford
• Open6DOR
• CALVIN
• GarmentLab
• Matterport3D
• VLN-CE
• vMaterials
• HumanoidBench

The licenses for the assets used in RoboVerse will be added soon. Please contact us if you have any issues.

Citation

If you find RoboVerse useful, please consider citing it:

@misc{geng2025roboverse,
      title={RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning}, 
      author={Haoran Geng and Feishi Wang and Songlin Wei and Yuyang Li and Bangjun Wang and Boshi An and Charlie Tianyue Cheng and Haozhe Lou and Peihao Li and Yen-Jen Wang and Yutong Liang and Dylan Goetting and Chaoyi Xu and Haozhe Chen and Yuxi Qian and Yiran Geng and Jiageng Mao and Weikang Wan and Mingtong Zhang and Jiangran Lyu and Siheng Zhao and Jiazhao Zhang and Jialiang Zhang and Chengyang Zhao and Haoran Lu and Yufei Ding and Ran Gong and Yuran Wang and Yuxuan Kuang and Ruihai Wu and Baoxiong Jia and Carlo Sferrazza and Hao Dong and Siyuan Huang and Yue Wang and Jitendra Malik and Pieter Abbeel},
      year={2025},
      eprint={2504.18904},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2504.18904}, 
}