Humanoid Everyday：オープンワールドヒューマノイド操作のための包括的ロボットデータセット
Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
ヒューマノイドロボットの器用な操作・人間とのインタラクション・移動を伴う動作を含む大規模マルチモーダルデータセットを構築し、クラウド評価基盤も提供した研究。
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著者: Zhenyu Zhao, Hongyi Jing, Xiawei Liu, Jiageng Mao, Abha Jha, Hanwen Yang, Rong Xue, Sergey Zakharov, Vitor Guizilini, Yue Wang
分類: cs.RO, cs.LG
原文アブストラクト
From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary robot arms, and the few existing humanoid datasets are either confined to fixed environments or limited in task diversity, often lacking human-humanoid interaction and lower-body locomotion. Moreover, there are a few standardized evaluation platforms for benchmarking learning-based policies on humanoid data. In this work, we present Humanoid Everyday, a large-scale and diverse humanoid manipulation dataset characterized by extensive task variety involving dextrous object manipulation, human-humanoid interaction, locomotion-integrated actions, and more. Leveraging a highly efficient human-supervised teleoperation pipeline, Humanoid Everyday aggregates high-quality multimodal sensory data, including RGB, depth, LiDAR, and tactile inputs, together with natural language annotations, comprising 10.3k trajectories and over 3 million frames of data across 260 tasks across 7 broad categories. In addition, we conduct an analysis of representative policy learning methods on our dataset, providing insights into their strengths and limitations across different task categories. For standardized evaluation, we introduce a cloud-based evaluation platform that allows researchers to seamlessly deploy their policies in our controlled setting and receive performance feedback. By releasing Humanoid Everyday along with our policy learning analysis and a standardized cloud-based evaluation platform, we intend to advance research in general-purpose humanoid manipulation and lay the groundwork for more capable and embodied robotic agents in real-world scenarios. Our dataset, data collection code, and cloud evaluation website are made publicly available on our project website.
関連論文
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- Imagine2Real: ビデオ生成事前知識によるヒューマノイドと物体のゼロショット対話の実現ヒューマノイド操作
