BEHAVIOR 機器人套件：簡化日常家務活動中的真實世界全身操控

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

現實世界的家務任務對移動操作機器人提出了重大挑戰。通過對現有機器人基準測試的分析，我們發現成功的任務執行依賴於三項關鍵的全身控制能力：雙臂協調、穩定且精確的導航，以及廣泛的末端執行器可達性。實現這些能力需要精心的硬件設計，但由此產生的系統複雜性進一步加劇了視覺運動策略學習的難度。為應對這些挑戰，我們引入了BEHAVIOR機器人套件（BRS），這是一個用於多樣化家務任務中全身操作的綜合框架。基於一款配備4自由度軀幹的雙臂輪式機器人，BRS整合了一個經濟高效的全身遙控數據收集界面，以及一種新穎的學習全身視覺運動策略的算法。我們在五項具有挑戰性的家務任務上對BRS進行了評估，這些任務不僅強調了上述三項核心能力，還引入了額外的複雜性，如遠程導航、與可動及可變形物體的交互，以及在狹小空間內的操作。我們相信，BRS集成的機器人實體、數據收集界面及學習框架，標誌著在實現日常家務任務中真實世界全身操作方面邁出了重要一步。BRS已在https://behavior-robot-suite.github.io/開源。

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/