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Fleed2D

Apaar Sadhwani, Hamid Badiozamani, Tushar Agarwal, Saraswathi Marthandam, Amin Atrash, Jing Zhu, Aarthi Raveendran, William D. Smart
2023
Last updated March 28, 2024
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In this work, we introduce Fleet2D, a fast, lightweight simulator designed for long-term human-robot interactions in the home. By abstracting away low-level physics, aggressively caching compute-intensive operations, and operating in a simplified two-dimensional world, we are able to perform realistic simulations of robot behavior at more than 10,000 times real time. We present the design, development, and validation of Fleet2D, showcase its effectiveness on a number of use cases in home robotics, and discuss how it has accelerated the development cycle for a home robot. Finally, we make Fleet2D open source for the research community at github.com/amazon-science/fleet2d.

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