白虎-家居家政数据集

白虎-家居家政数据集归属于人形机器人（上海）有限公司，是面向人形机器人家居家政场景的专用具身智能数据集。数据采集于上海张江人形机器人训练场，涵盖物品收纳、衣服分类、桌面清理、垃圾分类等上千种子任务。该数据集为遥操作真机数据，涵盖青龙、智元A2D等十多种本体类型，包含多路相机视觉、关节位姿、传感器参数及必要元数据，为家居家政类人形机器人模型训练、算法优化提供高真实度数据源支撑

The Baihu Household Chores Dataset is developed by Humanoid Robot (Shanghai) Co., Ltd. It is a specialized embodied intelligence dataset targeting household chore scenarios for humanoid robots. The dataset was collected at the Shanghai Zhangjiang Humanoid Robot Training Site, encompassing over a thousand subtasks such as item organization, clothing categorization, desktop tidying, waste classification, and more. Composed of teleoperated real robot data, it covers more than ten robot hardware platforms including Qinglong and Zhiyuan A2D. The dataset contains multi-channel camera vision data, joint poses, sensor parameters, and essential metadata, offering high-fidelity data resources for model training and algorithm optimization of humanoid robots deployed in household chore applications.

搜集汇总

背景与挑战

背景概述

该数据集由人形机器人（上海）有限公司提供，是面向家居家政场景的具身智能专用数据集，采集自上海张江训练场，涵盖物品收纳、垃圾分类等上千种任务。它包含多品牌机器人的遥操作真机数据，集成视觉、关节位姿等多模态信息，用于人形机器人的模型训练与算法优化。