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Versatile robotic caregivers could benefit millions of people worldwide,including older adults and people with disabilities. Recent work has exploredhow robotic caregivers can learn to interact with people through physicssimulations, yet transferring what has been learned to real robots remainschallenging. Virtual reality (VR) has the potential to help bridge the gapbetween simulations and the real world. We present Assistive VR Gym (AVR Gym),which enables real people to interact with virtual assistive robots. We alsoprovide evidence that AVR Gym can help researchers improve the performance ofsimulation-trained assistive robots with real people. Prior to AVR Gym, wetrained robot control policies (Original Policies) solely in simulation forfour robotic caregiving tasks (robot-assisted feeding, drinking, itchscratching, and bed bathing) with two simulated robots (PR2 from Willow Garageand Jaco from Kinova). With AVR Gym, we developed Revised Policies based oninsights gained from testing the Original policies with real people. Through aformal study with eight participants in AVR Gym, we found that the Originalpolicies performed poorly, the Revised policies performed significantly better,and that improvements to the biomechanical models used to train the Revisedpolicies resulted in simulated people that better match real participants.Notably, participants significantly disagreed that the Original policies weresuccessful at assistance, but significantly agreed that the Revised policieswere successful at assistance. Overall, our results suggest that VR can be usedto improve the performance of simulation-trained control policies with realpeople without putting people at risk, thereby serving as a valuable steppingstone to real robotic assistance.

Assistive VR Gym: Interactions with Real People to Improve Virtual Assistive Robots