arXiv:2506.00220cs.IRcs.HC2025-06中稿 · CoRL

构建可发现可复用的人机交互数据系统,用聊天机器人实现自然语言查数据。

Curate, Connect, Inquire: A System for Findable Accessible Interoperable and Reusable (FAIR) Human-Robot Centered Datasets

  • 设计标准化流程,让机器人数据符合FAIR原则并持续发布。
  • 用大模型训练聊天接口,用户能用自然语言搜索、对比和获取数据。
  • 已在德州大学机器人实验室落地验证,显著提升数据可访问性。

人工智能在机器人领域的快速发展,推动了高质量、可复用数据集的需求,尤其是在人机交互(HRI)与嵌入式AI机器人领域。尽管越来越多的机器人数据集被创建,但开放数据生态仍不均衡,主要因缺乏统一的数据整理标准与发布规范,导致数据难以发现、访问和复用。本文提出一个数据整理与访问系统,包含两项核心贡献:(1) 一套结构化方法论,用于对以人为中心的机器人数据集进行整理、发布与整合,使其符合FAIR(可发现、可访问、可互操作、可复用)原则;(2) 一个基于ChatGPT的对话界面,通过训练数据集元信息与文档,支持用户以自然语言探索、比较和检索数据。该系统基于德克萨斯大学奥斯汀分校德州机器人中心实际数据整理经验开发,验证了标准化整理与持久发布的价值。评估表明,系统显著提升了人机交互数据的可访问性与可理解性。本工作呼应了ICRA 2025 HCRL研讨会目标,为具身AI的人类中心数据访问迈出关键一步。

原文摘要 · Abstract (English)

The rapid growth of AI in robotics has amplified the need for high-quality, reusable datasets, particularly in human-robot interaction (HRI) and AI-embedded robotics. While more robotics datasets are being created, the landscape of open data in the field is uneven. This is due to a lack of curation standards and consistent publication practices, which makes it difficult to discover, access, and reuse robotics data. To address these challenges, this paper presents a curation and access system with two main contributions: (1) a structured methodology to curate, publish, and integrate FAIR (Findable, Accessible, Interoperable, Reusable) human-centered robotics datasets; and (2) a ChatGPT-powered conversational interface trained with the curated datasets metadata and documentation to enable exploration, comparison robotics datasets and data retrieval using natural language. Developed based on practical experience curating datasets from robotics labs within Texas Robotics at the University of Texas at Austin, the system demonstrates the value of standardized curation and persistent publication of robotics data. The system's evaluation suggests that access and understandability of human-robotics data are significantly improved. This work directly aligns with the goals of the HCRL @ ICRA 2025 workshop and represents a step towards more human-centered access to data for embodied AI.

数据集管理人机交互自然语言查询

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