{"id":"https://openalex.org/W4393336294","doi":"https://doi.org/10.48550/arxiv.2403.19622","title":"RH20T-P: A Primitive-Level Robotic Dataset Towards Composable Generalization Agents","display_name":"RH20T-P: A Primitive-Level Robotic Dataset Towards Composable Generalization Agents","publication_year":2024,"publication_date":"2024-03-28","ids":{"openalex":"https://openalex.org/W4393336294","doi":"https://doi.org/10.48550/arxiv.2403.19622"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2403.19622","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.19622","pdf_url":"https://arxiv.org/pdf/2403.19622","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"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.19622","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004129136","display_name":"Zeren Chen","orcid":"https://orcid.org/0000-0001-7412-8347"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zeren","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031242463","display_name":"Zhelun Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Zhelun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101325358","display_name":"Xiaoya Lu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Xiaoya","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108912796","display_name":"Lehan He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Lehan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018078638","display_name":"Sucheng Qian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian, Sucheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063953932","display_name":"Zhenfei Yin","orcid":"https://orcid.org/0000-0002-8666-1103"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yin, Zhenfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087818121","display_name":"Wanli Ouyang","orcid":"https://orcid.org/0000-0002-9163-2761"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ouyang, Wanli","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102006926","display_name":"Jing Shao","orcid":"https://orcid.org/0000-0002-2500-2366"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Jing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100620176","display_name":"Yu Qiao","orcid":"https://orcid.org/0000-0002-2191-3875"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiao, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010726528","display_name":"Cewu Lu","orcid":"https://orcid.org/0000-0002-4023-9257"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Cewu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5035443556","display_name":"Lu Sheng","orcid":"https://orcid.org/0000-0002-8525-9163"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sheng, Lu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9340999722480774,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9340999722480774,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.919700026512146,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9104999899864197,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.8456201553344727},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5753697156906128},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44925838708877563},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3674376308917999},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1888723075389862}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.8456201553344727},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5753697156906128},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44925838708877563},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3674376308917999},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1888723075389862},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2403.19622","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.19622","pdf_url":"https://arxiv.org/pdf/2403.19622","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"},{"id":"doi:10.48550/arxiv.2403.19622","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2403.19622","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.19622","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.19622","pdf_url":"https://arxiv.org/pdf/2403.19622","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":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4393336294.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W3162204513","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829"],"abstract_inverted_index":{"Achieving":[0],"generalizability":[1],"in":[2,67,113,133],"solving":[3,33,157],"out-of-distribution":[4],"tasks":[5,40,112,159],"is":[6,55,118],"one":[7],"of":[8,12,18,32,44,70,79,82,89,125],"the":[9,30,38,68,76,162],"ultimate":[10],"goals":[11],"learning":[13],"robotic":[14,59,99,134,171],"manipulation.":[15,135],"Recent":[16],"progress":[17],"Vision-Language":[19],"Models":[20],"(VLMs)":[21],"has":[22],"shown":[23],"that":[24,49,130,161],"VLM-based":[25],"task":[26],"planners":[27],"can":[28,165],"alleviate":[29],"difficulty":[31],"novel":[34],"tasks,":[35],"by":[36],"decomposing":[37],"compounded":[39],"as":[41],"a":[42,86,97,123,139],"plan":[43],"sequentially":[45],"executing":[46],"primitive-level":[47,90,98],"skills":[48,84,129],"have":[50],"been":[51],"already":[52],"mastered.":[53],"It":[54],"also":[56],"promising":[57],"for":[58],"manipulation":[60,100,111,172],"to":[61,122,170],"adapt":[62],"such":[63],"composable":[64,71,167],"generalization":[65,72,168],"ability,":[66],"form":[69],"agents":[73],"(CGAs).":[74],"However,":[75],"community":[77],"lacks":[78],"reliable":[80],"design":[81],"primitive":[83,128],"and":[85,143],"sufficient":[87],"amount":[88],"data":[91],"annotations.":[92],"Therefore,":[93],"we":[94,137],"propose":[95],"RH20T-P,":[96,152],"dataset,":[101],"which":[102],"contains":[103],"about":[104],"38k":[105],"video":[106],"clips":[107],"covering":[108],"67":[109],"diverse":[110],"real-world":[114],"scenarios.":[115],"Each":[116],"clip":[117],"manually":[119],"annotated":[120],"according":[121],"set":[124],"meticulously":[126],"designed":[127],"are":[131],"common":[132],"Furthermore,":[136],"standardize":[138],"plan-execute":[140],"CGA":[141],"paradigm":[142],"implement":[144],"an":[145],"exemplar":[146],"baseline":[147],"called":[148],"RA-P":[149],"on":[150,156],"our":[151],"whose":[153],"positive":[154],"performance":[155],"unseen":[158],"validates":[160],"proposed":[163],"dataset":[164],"offer":[166],"ability":[169],"agents.":[173]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}