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We propose VRGym, a virtual reality testbed for realistic human-robotinteraction. Different from existing toolkits and virtual reality environments,the VRGym emphasizes on building and training both physical and interactiveagents for robotics, machine learning, and cognitive science. VRGym leveragesmechanisms that can generate diverse 3D scenes with high realism throughphysics-based simulation. We demonstrate that VRGym is able to (i) collecthuman interactions and fine manipulations, (ii) accommodate various robots witha ROS bridge, (iii) support experiments for human-robot interaction, and (iv)provide toolkits for training the state-of-the-art machine learning algorithms.We hope VRGym can help to advance general-purpose robotics and machine learningagents, as well as assisting human studies in the field of cognitive science.

VRGym: A Virtual Testbed for Physical and Interactive AI