Liaohe-CobotMagic-PnP: an Imitation Learning Dataset of Intelligent Robot for Industrial Applications

• URL: http://arxiv.org/abs/2509.23111v1
• Date: Sat, 27 Sep 2025 04:50:31 GMT
• Title: Liaohe-CobotMagic-PnP: an Imitation Learning Dataset of Intelligent Robot for Industrial Applications
• Authors: Chen Yizhe, Wang Qi, Hu Dongxiao, Jingzhe Fang, Liu Sichao, Zixin An, Hongliang Niu, Haoran Liu, Li Dong, Chuanfen Feng, Lan Dapeng, Liu Yu, Zhibo Pang,
• Abstract summary: In Industry 4.0 applications, dynamic environmental interference induces highly nonlinear and strongly coupled interactions between the environmental state and robotic behavior.<n>Effectively representing dynamic environmental states through multimodal sensor data fusion remains a critical challenge in current robotic datasets.<n>The dataset integrates multi-dimensional interference including size, color, and lighting variations, and employs high-precision sensors to synchronously collect visual, torque, and joint-state measurements.
• Score: 17.898156781956207
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In Industry 4.0 applications, dynamic environmental interference induces highly nonlinear and strongly coupled interactions between the environmental state and robotic behavior. Effectively representing dynamic environmental states through multimodal sensor data fusion remains a critical challenge in current robotic datasets. To address this, an industrial-grade multimodal interference dataset is presented, designed for robotic perception and control under complex conditions. The dataset integrates multi-dimensional interference features including size, color, and lighting variations, and employs high-precision sensors to synchronously collect visual, torque, and joint-state measurements. Scenarios with geometric similarity exceeding 85\% and standardized lighting gradients are included to ensure real-world representativeness. Microsecond-level time-synchronization and vibration-resistant data acquisition protocols, implemented via the Robot Operating System (ROS), guarantee temporal and operational fidelity. Experimental results demonstrate that the dataset enhances model validation robustness and improves robotic operational stability in dynamic, interference-rich environments. The dataset is publicly available at:https://modelscope.cn/datasets/Liaoh_LAB/Liaohe-CobotMagic-PnP.

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