PR2:一个具有物理和照片真实感的人形试验台与竞赛中的试点研究

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Hangxin Liu, Qi Xie, Zeyu Zhang, Tao Yuan, Song Wang, Zaijin Wang, Xiaokun Leng, Lining Sun, Jingwen Zhang, Zhicheng He, Yao Su
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引用次数: 0

摘要

本文介绍了一个物理逼真和照片逼真的人形机器人试验台,PR2的发展,以促进具身人工智能(具身AI)和机器人之间的合作研究。PR2提供高质量的场景渲染和机器人动态仿真,实现(i)使用各种数字资产创建不同场景,(ii)集成高级感知或基础模型,以及(iii)基于环境反馈实施动态人形机器人行为的规划和控制算法。PR2测试版已部署在全国大学生全尺寸人形机器人大赛的模拟赛道上,在4个月内吸引了137支队伍和400多名参与者。这次比赛涵盖了两足行走的传统任务,以及局部操作和基于语言指导的对象搜索的新挑战,这是公立大学机器人比赛的第一次。对比赛的回顾性分析表明,未来的赛事应该强调运动与操纵和感知的整合。通过在https://github.com/pr2-humanoid/PR2-Platform上公开提供PR2测试平台,我们的目标是进一步推进人形机器人的教育和培训。视频演示:https://pr2-humanoid.github.io/。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

PR2: A Physics- and Photo-Realistic Humanoid Testbed With Pilot Study in Competition

PR2: A Physics- and Photo-Realistic Humanoid Testbed With Pilot Study in Competition

This paper presents the development of a Physics-realistic and Photo-realistic humanoid robot testbed, PR2, to facilitate collaborative research between Embodied Artificial Intelligence (Embodied AI) and robotics. PR2 offers high-quality scene rendering and robot dynamic simulation, enabling (i) the creation of diverse scenes using various digital assets, (ii) the integration of advanced perception or foundation models, and (iii) the implementation of planning and control algorithms for dynamic humanoid robot behaviors based on environmental feedback. The beta version of PR2 has been deployed for the simulation track of a nationwide full-size humanoid robot competition for college students, attracting 137 teams and over 400 participants within 4 months. This competition covered traditional tasks in bipedal walking, as well as novel challenges in loco-manipulation and language-instruction-based object search, marking a first for public college robotics competitions. A retrospective analysis of the competition suggests that future events should emphasize the integration of locomotion with manipulation and perception. By making the PR2 testbed publicly available at https://github.com/pr2-humanoid/PR2-Platform, we aim to further advance education and training in humanoid robotics. Video demonstration: https://pr2-humanoid.github.io/.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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