构建百万级机器人操作数据集,提升智能体泛化能力。
AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
- 构建包含百万轨迹的规模化操作平台,支持多种任务与传感器。
- 基于该数据集训练的策略性能比现有方法平均提升30%。
- 适合研究通用机器人智能、具身学习与大规模数据训练者。
我们探索了可扩展机器人数据如何应对通用机器人操作中的现实挑战。提出Agibot World——一个涵盖217个任务、5种部署场景、超过100万条轨迹的大规模平台,数据规模较现有数据集提升一个数量级。通过标准化的人机协同采集流程,保障数据高质量与多样性分布。平台可扩展至夹爪、灵巧手及视觉-触觉传感器,支持精细技能学习。基于此数据,我们提出Genie Operator-1(GO-1),一种利用潜在动作表示的通用策略,实现数据利用率最大化,表现出随数据量增加而可预测的性能提升。在域内与域外场景下,预训练策略相较Open X-Embodiment数据训练的模型平均性能提升30%。GO-1在真实世界复杂灵巧与长时序任务中表现优异,复杂任务成功率超60%,相比以往RDT方法提升32%。通过开源数据、工具与模型,旨在推动大规模高质量机器人数据的普及,加速通用智能体的发展。
原文摘要 · Abstract (English)
We explore how scalable robot data can address real-world challenges for generalized robotic manipulation. Introducing AgiBot World, a large-scale platform comprising over 1 million trajectories across 217 tasks in five deployment scenarios, we achieve an order-of-magnitude increase in data scale compared to existing datasets. Accelerated by a standardized collection pipeline with human-in-the-loop verification, AgiBot World guarantees high-quality and diverse data distribution. It is extensible from grippers to dexterous hands and visuo-tactile sensors for fine-grained skill acquisition. Building on top of data, we introduce Genie Operator-1 (GO-1), a novel generalist policy that leverages latent action representations to maximize data utilization, demonstrating predictable performance scaling with increased data volume. Policies pre-trained on our dataset achieve an average performance improvement of 30% over those trained on Open X-Embodiment, both in in-domain and out-of-distribution scenarios. GO-1 exhibits exceptional capability in real-world dexterous and long-horizon tasks, achieving over 60% success rate on complex tasks and outperforming prior RDT approach by 32%. By open-sourcing the dataset, tools, and models, we aim to democratize access to large-scale, high-quality robot data, advancing the pursuit of scalable and general-purpose intelligence.
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