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OopsieVerse is a damage-aware, simulator-agnostic framework and benchmark for evaluating and learning safer policies. OopsieVerse models damage as a unified signal called health.

Documentation

  • Install — Clone the repo, set up conda environments, and install BEHAVIOR-1K (OmniGibson) and/or RoboCasa (MuJoCo).
  • Quickstart — Download pre-collected safe/unsafe demos and run teleop or playback with health overlays.
  • DamageSim — Core damage API: health evaluators, the DamageableMixin contract, and simulator integration.
  • OopsieBench — Benchmark task catalog with safe vs. unsafe demo videos for both simulators.
  • Troubleshooting — Common setup fixes (CUDA/PyTorch, SpaceMouse udev, and related issues).

Key Features

  • Unified damage signal — a single continuous health value per object/link, aggregating mechanical, thermal, and electrical damage.
  • Simulator-agnostic — one consistent damage API across BEHAVIOR-1K (OmniGibson) and RoboCasa (MuJoCo).
  • Real-time safety feedback — live health bars and damage-based object coloring during teleoperation, so collectors can gather safer demonstrations.
  • Benchmark tasks — a growing set of contact-, heat-, and fluid-rich manipulation tasks in realistic kitchens and homes.
  • End-to-end pipeline — teleoperate → playback → render health-overlay videos and compute per-object safety metrics.