Recently, the concept of embodied intelligence has been widely accepted and
popularized, leading people to naturally consider the potential for
commercialization in this field. In this work, we propose a specific commercial
scenario simulation, human-centered in-building embodied delivery. Furthermore,
for this scenario, we have developed a brand-new virtual environment system
from scratch, constructing a multi-level connected building space modeled after
a polar research station. This environment also includes autonomous human
characters and robots with grasping and mobility capabilities, as well as a
large number of interactive items. Based on this environment, we have built a
delivery dataset containing 13k language instructions to guide robots in
providing services. We simulate human behavior through human characters and
sample their various needs in daily life. Finally, we proposed a method
centered around a large multimodal model to serve as the baseline system for
this dataset. Compared to past embodied data work, our work focuses on a
virtual environment centered around human-robot interaction for commercial
scenarios. We believe this will bring new perspectives and exploration angles
to the embodied community.

我们提出了一种以人为中心的楼宇内具身交付商业场景的具体商业模拟，并开发了一个全新的虚拟环境系统，构建了一个模拟极地研究站的多层连接建筑空间，并包括具有抓取和移动能力的自主人物和机器人以及大量的交互物品。基于该环境，我们建立了一个包含 13,000 个语言指令的交付数据集，用于指导机器人提供服务。我们通过人物模拟人类行为，并对他们日常生活中的各种需求进行采样。最后，我们提出了一种以大型多模型为中心的方法，作为该数据集的基线系统。与过去的具身数据工作相比，我们的工作侧重于以人机交互为中心的商业情景下的虚拟环境。我们相信这将为具身社区带来新的视角和探索角度。