ark_robotics.github.io/index.html at main · Robotics-Ark/ark_robotics.github.io · GitHub

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<!DOCTYPE html>
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  <meta name="description" content="An Open-source Python-based Framework for Embodied AI">
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  <title>Ark: An Open-source Python-based Framework for Embodied AI</title>

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          <h1 class="title is-1 publication-title">Ark: An Open-source Python-based Framework for Robot Learning</h1>
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        <h2 class="title is-3">Notice</h2>
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          <p>
            Like any large software project, at some point they need refactoring.
            As such, Ark is currently under an active revamp.
            The codebase is still available as it was released before, however some parts may change signficantly in the near future.
            We appreciate your patience and understanding as we work to improve the framework.
            We are aiming for a first release of Ark v1.5 in April 2026.
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        <h2 class="title is-3">Abstract</h2>
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          <p>
            Robotics has made remarkable hardware strides—from DARPA’s Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind progress in machine learning. A major bottleneck is software: current robot stacks demand steep learning curves, low-level C/C++ expertise, fragmented tooling, and intricate hardware integration, in stark contrast to the Python-centric, well-documented ecosystems that propelled modern AI. We introduce Ark, an open-source, Python-first robotics framework designed to close that gap. Ark presents a Gym-style environment interface that allows users to collect data, preprocess it, and train policies using state-of-the-art imitation-learning algorithms (e.g., ACT, Diffusion Policy) while seamlessly toggling between high-fidelity simulation and physical robots. A lightweight client–server architecture provides networked publisher-subscriber communication, and optional C/C++ bindings ensure real-time performance when needed. Ark ships with reusable modules for control, SLAM, motion planning, system identification, and visualization, along with native ROS interoperability. Comprehensive documentation and case studies—from manipulation to mobile navigation—demonstrate rapid prototyping, effortless hardware swapping, and end-to-end pipelines that rival the convenience of mainstream machine-learning workflows. By unifying robotics and AI practices under a common Python umbrella, Ark lowers entry barriers and accelerates research and commercial deployment of autonomous robots.
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