大数据2026，Vol.12Issue(5)：114-135,22.DOI:10.11959/j.issn.2096-0271.BDR26165
面向居家养老场景的高质量具身智能仿真数据集构建研究
Research on the construction of high-quality embodied intelligence simulation datasets for residential elderly care scenarios
摘要
Abstract
With the intensifying trend of population aging,residential elderly care has become the predominant modality in China.Embodied AI robots are increasingly recognized as a pivotal technical carrier to mitigating the scarcity of caregiving resources and the latency in emergency responses.The training of embodied models necessitates large-scale,high-fidelity interactive data;however,empirical data acquisition is severely constrained by high safety risks,prohibitive costs,and insufficient sample diversity.Furthermore,general-purpose simulation datasets frequently fail to encapsulate the idiosyncratic environmental features,human-robot safety imperatives,and core service tasks essential to elderly care,thereby hindering industrial deployment.To address these gaps,this paper proposes a systematic methodology for constructing embodied intelligence simulation datasets specifically for residential care scenarios.Leveraging a synergistic dual-engine framework that integrates the Marble World Model with NVIDIA Isaac Sim,we establish a four-tier architecture comprising scene generation,physical modeling,control execution,and data acquisition.We further design specialized operational pipelines for quadrupedal robots in emergency response and bipedal robots in daily assistance,incorporating rigorous physical safety constraints.This approach facilitates the generation of multimodal,standardized,and highly generalizable domain-specific simulation data,effectively filling the data void in the field of embodied intelligence for elderly care and providing robust technical support for sim-to-real transfer and large-scale industrialization.关键词
具身智能/物理仿真/世界模型/空间智能/物理智能/机器人/视觉语言导航/视觉语言动作Key words
embodied AI/physical simulation/world model/spatial intelligence/physical intelligence/robotics/vision-language navigation(VLN)/vision-language-action(VLA)分类
信息技术与安全科学引用本文复制引用
田佳蕊,孙奥兰,瞿晓阳,张旭龙,付佳,叶志伟,王健宗..面向居家养老场景的高质量具身智能仿真数据集构建研究[J].大数据,2026,12(5):114-135,22.基金项目
深圳市重点产业研发计划(No.ZDCY20250901100302003) Shenzhen Key Industry Research and Development Program under Grant(No.ZDCY20250901100302003) （No.ZDCY20250901100302003）
