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arXiv · 2406.17898

Human-centered In-building Embodied Delivery Benchmark

Zhuoqun Xu·Yang Liu·Xiaoqi Li·Jiyao Zhang·Hao Dong
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Abstract

Recently, the concept of embodied intelligence has been widely accepted and popularized, leading people to naturally consider the potential for commercialization in this field. In this work, we propose a specific commercial scenario simulation, human-centered in-building embodied delivery. Furthermore, for this scenario, we have developed a brand-new virtual environment system from scratch, constructing a multi-level connected building space modeled after a polar research station. This environment also includes autonomous human characters and robots with grasping and mobility capabilities, as well as a large number of interactive items. Based on this environment, we have built a delivery dataset containing 13k language instructions to guide robots in providing services. We simulate human behavior through human characters and sample their various needs in daily life. Finally, we proposed a method centered around a large multimodal model to serve as the baseline system for this dataset. Compared to past embodied data work, our work focuses on a virtual environment centered around human-robot interaction for commercial scenarios. We believe this will bring new perspectives and exploration angles to the embodied community.

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Zhuoqun Xu, Yang Liu, Xiaoqi Li, Jiyao Zhang, Hao Dong. 2024-06-25. Human-centered In-building Embodied Delivery Benchmark. https://arxiv.org/abs/2406.17898

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