具身智能多构型高质量数据集

北京人形机器人创新中心推出的“具身智能多构型高质量数据集”，为机器人操作模型的训练提供了高质量、广泛多样且场景覆盖全面的数据基础，致力于提升机器人在复杂环境下的操作能力与整体适应性。该数据集涵盖上百项任务，涉及数十种不同物体，广泛覆盖家居、厨房、办公、零售等主流生活服务场景。在机器人构型方面，包含单臂、双臂及人形机器人等多种形态，手臂末端配备夹爪或灵巧手，以适应不同操作需求。在厨房场景中，数据集不仅包含草莓、鸡蛋、香蕉、梨等常见食材，还涵盖如烤箱、面包机等可调节的复杂物体。家庭场景中，既包含网球等刚性物体，也涵盖玩具等可变形物体。办公与工业场景则聚焦电池、齿轮等需要精准操控的小型物体。与通常通过脚本采集或依赖VR设备生成的机械式运动数据不同，本数据集主要依托自研遥操作系统进行采集，动作更为自然、连贯、平滑，能更真实地模拟人类的行为模式与认知过程。所有数据均在指定内部实验区域采集，操作人员轮换频率低，采集节奏统一，严格遵循内部标准流程，从而确保数据集整体质量的高水准与一致性。

The "Embodied Intelligence Multi-configuration High-quality Dataset" launched by the Beijing Humanoid Robot Innovation Center provides a high-quality, widely diverse and comprehensively scene-covered data foundation for the training of robot manipulation models, and aims to enhance robots' operational capabilities and overall adaptability in complex environments. This dataset covers hundreds of tasks involving dozens of distinct objects, and comprehensively covers mainstream daily service scenarios such as household, kitchen, office and retail. In terms of robot configurations, it includes various forms such as single-arm, dual-arm and humanoid robots, with grippers or dexterous hands installed at the end of the arms to adapt to different operational needs. In kitchen scenarios, the dataset not only includes common food ingredients such as strawberries, eggs, bananas and pears, but also covers adjustable complex objects like ovens and bread machines. In household scenarios, it includes both rigid objects like tennis balls and deformable objects such as toys. Office and industrial scenarios focus on small objects that require precise manipulation, such as batteries and gears. Unlike most mechanical motion data collected via scripts or generated using VR devices, this dataset is mainly collected based on an independently developed teleoperation system. Its movements are more natural, coherent and smooth, and can more realistically simulate human behavioral patterns and cognitive processes. All data is collected in designated internal experimental areas, with low operator turnover rate and unified collection rhythm, and strictly follows internal standard procedures, thereby ensuring the high quality and consistency of the entire dataset.

搜集汇总

背景与挑战

背景概述

该数据集由北京人形机器人创新中心推出，包含机器人本体传感器和关节数据，覆盖抓取、放置等多种任务技能，涉及家居、厨房等多样化场景。采用自研遥操作系统采集，动作自然连贯，确保数据高质量和一致性。