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We present RCareWorld, a human-centric simulation world for physical andsocial robotic caregiving designed with inputs from stakeholders, includingcare recipients, caregivers, occupational therapists, and roboticists.RCareWorld has realistic human models of care recipients with mobilitylimitations and caregivers, home environments with multiple levels ofaccessibility and assistive devices, and robots commonly used for caregiving.It interfaces with various physics engines to model diverse material typesnecessary for simulating caregiving scenarios, and provides the capability toplan, control, and learn both human and robot control policies by integratingwith state-of-the-art external planning and learning libraries, and VR devices.We propose a set of realistic caregiving tasks in RCareWorld as a benchmark forphysical robotic caregiving and provide baseline control policies for them. Weillustrate the high-fidelity simulation capabilities of RCareWorld bydemonstrating the execution of a policy learnt in simulation for one of thesetasks on a real-world setup. Additionally, we perform a real-world socialrobotic caregiving experiment using behaviors modeled in RCareWorld. Roboticcaregiving, though potentially impactful towards enhancing the quality of lifeof care recipients and caregivers, is a field with many barriers to entry dueto its interdisciplinary facets. RCareWorld takes the first step towardsbuilding a realistic simulation world for robotic caregiving that would enableresearchers worldwide to contribute to this impactful field. Demo videos andsupplementary materials can be found at:https://emprise.cs.cornell.edu/rcareworld/.

RCareWorld: A Human-centric Simulation World for Caregiving Robots