具身多模态真机数据集

产品为睿源机器人（北京）有限公司自行生产数据。具身多模态真机数据集（以下简称为 RS-ManiRW）旨在通过专门设计的 RS 数据采集机器人，采集覆盖广泛通用任务的多模态数据。该数据集支持 MCAP、HDF5、LeRobot等多种主流数据格式数据集的数据源主要来自于数据训练场的真机数据采集数据集。RS-ManiRW致力于捕捉机器人在执行多样化通用任务时所展现的动作。这些动作类别广泛，旨在覆盖机器人技术在现实世界中可能应用的多个关键领域。数据集中的动作不仅包括简单的肢体运动，还涵盖了与环境、物体及潜在的人类伙伴进行复杂交互的序列。纳入到数据采集范围的动作类别与范围包括但不限于如下内容：·日常生活活动 (Activities of Daily Living，ADLs)：例如，物品取放（从不同位置拿起和放置不同形状、重量的物体）、清洁整理（擦拭表面、整理杂物）、开关门窗、操作家用电器（如微波炉、洗衣机）、准备简单食物（如倒水、搅拌）等。这些动作是服务机器人在家庭或办公环境中执行任务的基础。·基础工业操作：例如，零件搬运与上下料（在模拟的装配线上抓取和移动零部件）、简单装配与拆卸（如拧螺丝、插件、卡扣连接）、质量检测辅助（如手持传感器对产品进行扫描模拟）、包装与码垛（将产品放入包装盒或在托盘上堆叠）。这些动作代表了机器人在制造业、物流仓储等工业场景中的基础应用。·公共服务：如IT设备运维（机房巡检，网线连接，运维动作如服务器开关等），公共场所的巡逻及任务执行（如机场高铁站的安全检查，物品搬运等），卫生防疫（检疫样本放置及操作，环境消杀等）。这些动作是机器人在公共及危险空间中执行任务的基础。

This dataset is independently developed and produced by Ruiyuan Robotics (Beijing) Co., Ltd. The embodied multimodal real-robot dataset (hereinafter referred to as RS-ManiRW) aims to collect multimodal data covering a wide range of general-purpose tasks via a specially designed RS data collection robot. This dataset supports multiple mainstream data formats including MCAP, HDF5, LeRobot, etc., with its data sources primarily coming from real-robot data collected in dedicated training grounds.

RS-ManiRW is dedicated to capturing the motions exhibited by robots when performing diverse general-purpose tasks. These motion categories cover a wide range, aiming to encompass multiple key fields where robotic technology may be applied in the real world. The motions in the dataset not only include simple limb movements, but also cover sequences of complex interactions with the environment, objects, and potential human partners.

The motion categories and scope included in the data collection include but are not limited to the following:
1. Activities of Daily Living (ADLs): For example, object picking and placing (picking up and placing objects of different shapes and weights from different positions), cleaning and tidying (wiping surfaces, organizing clutter), opening and closing doors and windows, operating household appliances such as microwave ovens and washing machines, preparing simple meals such as pouring water and stirring, etc. These motions are the foundation for service robots to perform tasks in home or office environments.
2. Basic industrial operations: For example, parts handling and loading/unloading (grabbing and moving parts on simulated assembly lines), simple assembly and disassembly such as screwing, plugging and buckle connection, quality inspection assistance such as scanning products with handheld sensors for simulation, packaging and palletizing (placing products into packaging boxes or stacking them on pallets). These motions represent the basic applications of robots in industrial scenarios such as manufacturing, logistics and warehousing.
3. Public services: For example, IT equipment operation and maintenance (computer room inspection, network cable connection, server switching and other maintenance actions), patrol and task execution in public places such as safety inspections in airports and high-speed rail stations and item handling, hygiene and epidemic prevention (placing and operating quarantine samples, environmental disinfection, etc.). These motions are the foundation for robots to perform tasks in public and dangerous spaces.