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SAPIEN
Embodied AI simulator for robot manipulation
Apache-2.0
ABOUT
Robot manipulation research needs fast physics and articulated objects, not just rigid-body gym tasks. SAPIEN simulates interactive 3D scenes with GPU rendering so agents can learn grasping and part-based control before running on hardware.
INSTALL
pip install sapienINTEGRATION GUIDE
1. Train a manipulation policy on articulated objects in SAPIEN scenes
2. Render RGB and depth observations for visuomotor robot learning
3. Prototype part-based interaction tasks before deploying on a real arm
4. Benchmark embodied agents in physically realistic indoor environments
TAGS
pythonroboticssimulationembodied-aimanipulationgpu