基座模型技术背景下的具身智能体综述
李颂元,朱祥维,李玺
Survey of embodied agent in context of foundation model
Songyuan LI,Xiangwei ZHU,Xi LI
表 3
真实场景的大规模的多任务、多具身智能体数据集
Tab.3
Real-world, large-scale dataset for multitask or cross-embodiment agent
数据集
技能数
轨迹量
帧数/10
6
时长/h
具身形态数
SCAND
[
101
]
—
138
—
8.7
2
RoboNet
[
103
]
—
1.62×10
5
15
—
7
Bridge Data
[
104
]
71
7.2×10
3
—
—
1
RH20T
[
105
]
150
1.10×10
5
40
—
7
Open X-Embodiment
[
6
]
527
10
6
—
—
22
GNM
[
102
]
—
—
—
60
6