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BEHAVIOR机器人套件:优化现实世界全身操控,助力日常家务活动

BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities

March 7, 2025
作者: Yunfan Jiang, Ruohan Zhang, Josiah Wong, Chen Wang, Yanjie Ze, Hang Yin, Cem Gokmen, Shuran Song, Jiajun Wu, Li Fei-Fei
cs.AI

摘要

现实世界中的家务任务对移动操作机器人提出了重大挑战。通过对现有机器人基准测试的分析发现,成功完成任务依赖于三项关键的整体控制能力:双手协调、稳定且精确的导航以及广泛的末端执行器可达性。实现这些能力需要精心的硬件设计,但由此带来的系统复杂性进一步增加了视觉运动策略学习的难度。为应对这些挑战,我们推出了BEHAVIOR机器人套件(BRS),这是一个面向多样化家务任务中整体操作的综合性框架。BRS基于一款配备4自由度躯干的双手机器人,集成了一套经济高效的整体遥操作接口用于数据收集,以及一种新颖的学习整体视觉运动策略的算法。我们在五项具有挑战性的家务任务上对BRS进行了评估,这些任务不仅强调了上述三项核心能力,还引入了额外的复杂性,如长距离导航、与铰接和可变形物体的交互以及在狭小空间内的操作。我们相信,BRS集成的机器人实体、数据收集接口及学习框架,标志着在实现日常家务任务中整体操作方面迈出了重要一步。BRS已在https://behavior-robot-suite.github.io/开源。
English
Real-world household tasks present significant challenges for mobile manipulation robots. An analysis of existing robotics benchmarks reveals that successful task performance hinges on three key whole-body control capabilities: bimanual coordination, stable and precise navigation, and extensive end-effector reachability. Achieving these capabilities requires careful hardware design, but the resulting system complexity further complicates visuomotor policy learning. To address these challenges, we introduce the BEHAVIOR Robot Suite (BRS), a comprehensive framework for whole-body manipulation in diverse household tasks. Built on a bimanual, wheeled robot with a 4-DoF torso, BRS integrates a cost-effective whole-body teleoperation interface for data collection and a novel algorithm for learning whole-body visuomotor policies. We evaluate BRS on five challenging household tasks that not only emphasize the three core capabilities but also introduce additional complexities, such as long-range navigation, interaction with articulated and deformable objects, and manipulation in confined spaces. We believe that BRS's integrated robotic embodiment, data collection interface, and learning framework mark a significant step toward enabling real-world whole-body manipulation for everyday household tasks. BRS is open-sourced at https://behavior-robot-suite.github.io/

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PDF102March 10, 2025