{"id":"https://openalex.org/W7081952017","doi":"https://doi.org/10.1109/lra.2025.3609615","title":"Kaiwu: A Multimodal Manipulation Dataset and Framework for Robot Learning and Human-Robot Interaction","display_name":"Kaiwu: A Multimodal Manipulation Dataset and Framework for Robot Learning and Human-Robot Interaction","publication_year":2025,"publication_date":"2025-09-12","ids":{"openalex":"https://openalex.org/W7081952017","doi":"https://doi.org/10.1109/lra.2025.3609615"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3609615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3609615","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2503.05231","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Shuo Jiang","orcid":"https://orcid.org/0000-0003-3645-6301"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Jiang","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3645-6301","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haonan Li","orcid":"https://orcid.org/0009-0006-0457-2729"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haonan Li","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0006-0457-2729","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ruochen Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruochen Ren","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yanmin Zhou","orcid":"https://orcid.org/0000-0001-7824-1179"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanmin Zhou","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-7824-1179","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhipeng Wang","orcid":"https://orcid.org/0000-0003-4632-9170"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhipeng Wang","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4632-9170","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":null,"display_name":"Bin He","orcid":"https://orcid.org/0000-0003-3193-6269"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin He","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3193-6269","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":2.3892,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91287964,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"11","first_page":"11482","last_page":"11489"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.7085000276565552,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.7085000276565552,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13067","display_name":"Geological Modeling and Analysis","score":0.028200000524520874,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14311","display_name":"Electrical and Electromagnetic Research","score":0.01600000075995922,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6035000085830688},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.545199990272522},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.483599990606308},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.44290000200271606},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4327000081539154},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.4097000062465668},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.38989999890327454},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.3693000078201294},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.3587999939918518}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7253000140190125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7098000049591064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6035000085830688},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.545199990272522},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.483599990606308},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.44290000200271606},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4327000081539154},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.4097000062465668},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4068000018596649},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.38989999890327454},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3817000091075897},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.3587999939918518},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.35659998655319214},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3547999858856201},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34139999747276306},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.3361000120639801},{"id":"https://openalex.org/C135641252","wikidata":"https://www.wikidata.org/wiki/Q738567","display_name":"Multimodal interaction","level":2,"score":0.3273000121116638},{"id":"https://openalex.org/C2780660688","wikidata":"https://www.wikidata.org/wiki/Q25052564","display_name":"Multimodal learning","level":2,"score":0.3264999985694885},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3084000051021576},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3075000047683716},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2980000078678131},{"id":"https://openalex.org/C60008888","wikidata":"https://www.wikidata.org/wiki/Q6031013","display_name":"Information bottleneck method","level":3,"score":0.28110000491142273},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.27230000495910645},{"id":"https://openalex.org/C121687571","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Activity recognition","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3609615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3609615","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2503.05231","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2503.05231","pdf_url":"https://arxiv.org/pdf/2503.05231","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2503.05231","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2503.05231","pdf_url":"https://arxiv.org/pdf/2503.05231","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4066026473","display_name":null,"funder_award_id":"W2441018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7081952017.pdf","grobid_xml":"https://content.openalex.org/works/W7081952017.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W2059385573","https://openalex.org/W2775357942","https://openalex.org/W2777467089","https://openalex.org/W2883180338","https://openalex.org/W2884642747","https://openalex.org/W2963327026","https://openalex.org/W2963669336","https://openalex.org/W2964041256","https://openalex.org/W2973970174","https://openalex.org/W2990747716","https://openalex.org/W3097033071","https://openalex.org/W3203368377","https://openalex.org/W3203938461","https://openalex.org/W4312728926","https://openalex.org/W4353091694","https://openalex.org/W4385430679","https://openalex.org/W4386001306","https://openalex.org/W4388022922","https://openalex.org/W4389230839","https://openalex.org/W4401415042","https://openalex.org/W4402354047","https://openalex.org/W4402354083","https://openalex.org/W4402753857","https://openalex.org/W4402890475","https://openalex.org/W4405785208","https://openalex.org/W4408757728","https://openalex.org/W4411358581"],"related_works":[],"abstract_inverted_index":{"Cutting-edge":[0],"robot":[1,31,72,139],"learning":[2,9],"techniques":[3],"including":[4],"foundation":[5],"models":[6],"and":[7,18,58,71,79,128,146],"imitation":[8],"from":[10],"humans":[11],"all":[12,119],"pose":[13],"huge":[14],"demands":[15],"on":[16,125],"large-scale":[17],"high-quality":[19],"datasets":[20],"which":[21],"constitute":[22],"one":[23],"of":[24,68,88,93,101],"the":[25,28,36,42,50,94,102],"bottleneck":[26],"in":[27,49,84],"general":[29],"intelligent":[30],"fields.":[32],"This":[33],"paper":[34],"presents":[35],"Kaiwu":[37,134],"multimodal":[38,46],"dataset":[39,63,135],"to":[40,137],"address":[41],"missing":[43],"real-world":[44],"synchronized":[45],"data":[47,73],"problems":[48],"sophisticated":[51],"assembling":[52,103],"scenario,":[53],"especially":[54],"with":[55,76,113],"dynamics":[56],"information":[57],"its":[59],"fine-grained":[60],"labelling.":[61],"The":[62],"first":[64],"provides":[65],"an":[66],"integration":[67],"human,":[69],"environment":[70],"collection":[74],"framework":[75],"20":[77],"subjects":[78],"30":[80],"interaction":[81],"objects":[82],"resulting":[83],"totally":[85],"11,664":[86],"instances":[87],"integrated":[89],"actions.":[90],"For":[91],"each":[92],"demonstration,":[95],"hand":[96],"motions,":[97],"operation":[98],"pressures,":[99],"sounds":[100],"process,":[104],"multi-view":[105],"videos,":[106,115],"high-precision":[107],"motion":[108],"capture":[109],"information,":[110],"eye":[111],"gaze":[112],"first-person":[114],"electromyography":[116],"signals":[117],"are":[118,132],"recorded.":[120],"Fine-grained":[121],"multi-level":[122],"annotation":[123],"based":[124],"absolute":[126],"timestamp,":[127],"semantic":[129],"segmentation":[130],"labelling":[131],"performed.":[133],"aims":[136],"facilitate":[138],"learning,":[140],"dexterous":[141],"manipulation,":[142],"human":[143],"intention":[144],"investigation":[145],"human-robot":[147],"collaboration":[148],"research.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}
