Open-H-Embodiment：面向医学机器人基础模型的大规模数据集
机器人学
2026-04-30 v2 人工智能
摘要
自主医学机器人有望改善患者预后，减轻医护负担，民主化医疗资源获取，并实现超人类精度。然而，由于根本性的数据问题，自主医学机器人受限于现有数据集小巧、单一机体且很少公开共享，这限制了该领域需要的基础模型的发展。我们引入 Open-H-Embodiment，迄今为止规模最大的医学机器人视频数据集，包含同步运动学数据，涵盖超过 49 个机构及多种机器人平台，包括 CMR Versius、Intuitive Surgical 的 da Vinci、da Vinci Research Kit (dVRK)、Rob Surgical BiTrack、Virtual Incision 的 MIRA、Moon Surgical Maestro 以及各种定制系统，涵盖手术操作、机器人超声和内镜程序。我们通过两个基础模型展示了该数据集所能实现的研究。GR00T-H 是首个开源医学机器人视觉-语言-动作基础模型，唯一获得在结构化缝合基准测试中完成全流程任务的模型（25% 的试验成功率，而其他模型均为 0%），并在 29 步体外缝合序列中实现 64% 的平均成功率。我们还训练了 Cosmos-H-Surgical-Simulator，首个实现单一检查点跨多机体手术模拟的动作条件化世界模型，涵盖九种机器人平台，支持原位策略评估和医学领域的合成数据生成。这些结果表明，开放且大规模的医学机器人数据收集可作为社区的关键基础设施，促进机器人学习、世界建模等领域的进展。
引用
@article{arxiv.2604.21017,
title = {Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics},
author = {Open-H-Embodiment Consortium and : and Nigel Nelson and Juo-Tung Chen and Jesse Haworth and Xinhao Chen and Lukas Zbinden and Dianye Huang and Alaa Eldin Abdelaal and Alberto Arezzo and Ayberk Acar and Farshid Alambeigi and Carlo Alberto Ammirati and Yunke Ao and Pablo David Aranda Rodriguez and Soofiyan Atar and Mattia Ballo and Noah Barnes and Federica Barontini and Filip Binkiewicz and Peter Black and Sebastian Bodenstedt and Leonardo Borgioli and Nikola Budjak and Benjamin Calmé and Fabio Carrillo and Nicola Cavalcanti and Changwei Chen and Haoxin Chen and Sihang Chen and Qihan Chen and Zhongyu Chen and Ziyang Chen and Shing Shin Cheng and Meiqing Cheng and Min Cheng and Zih-Yun Sarah Chiu and Xiangyu Chu and Camilo Correa-Gallego and Giulio Dagnino and Anton Deguet and Jacob Delgado and Jonathan C. DeLong and Kaizhong Deng and Alexander Dimitrakakis and Qingpeng Ding and Hao Ding and Giovanni Distefano and Daniel Donoho and Anqing Duan and Marco Esposito and Shane Farritor and Jad Fayad and Zahi Fayad and Mario Ferradosa and Filippo Filicori and Chelsea Finn and Philipp Fürnstahl and Jiawei Ge and Stamatia Giannarou and Xavier Giralt Ludevid and Frederic Giraud and Aditya Amit Godbole and Ken Goldberg and Antony Goldenberg and Diego Granero Marana and Xiaoqing Guo and Tamás Haidegger and Evan Hailey and Pascal Hansen and Ziyi Hao and Kush Hari and Kengo Hayashi and Jonathon Hawkins and Shelby Haworth and Ortrun Hellig and S. Duke Herrell and Zhouyang Hong and Andrew Howe and Junlei Hu and Zhaoyang Jacopo Hu and Ria Jain and Mohammad Rafiee Javazm and Howard Ji and Rui Ji and Jianmin Ji and Zhongliang Jiang and Dominic Jones and Jeffrey Jopling and Britton Jordan and Ran Ju and Michael Kam and Luoyao Kang and Fausto Kang and Siddhartha Kapuria and Peter Kazanzides and Sonika Kiehler and Ethan Kilmer and Ji Woong Kim and Przemysław Korzeniowski and Chandra Kuchi and Nithesh Kumar and Alan Kuntz and Federico Lavagno and Yu Chung Lee and Hao-Chih Lee and Hang Li and Zhen Li and Xiao Liang and Xinxin Lin and Jinsong Lin and Chang Liu and Fei Liu and Pei Liu and Yun-hui Liu and Wanli Liuchen and Eszter Lukács and Sareena Mann and Miles Mannas and Brett Marinelli and Sabina Martyniak and Francesco Marzola and Lorenzo Mazza and Xueyan Mei and Maria Clara Morais and Luigi Muratore and Chetan Reddy Narayanaswamy and Michał Naskręt and David Navarro-Alarcon and Cyrus Neary and Chi Kit Ng and Christopher Nguan and David Noonan and Ki Hwan Oh and Tom Christian Olesch and Allison M. Okamura and Justin Opfermann and Matteo Pescio and Doan Xuan Viet Pham and Tito Porras and Hongliang Ren and Ariel Rodriguez Jimenez and Ferdinando Rodriguez y Baena and Septimiu E. Salcudean and Asmitha Sathya and Preethi Satish and Lalithkumar Seenivasan and Jiaqi Shao and Yiqing Shen and Yu Sheng and Lucy XiaoYang Shi and Zoe Soulé and Stefanie Speidel and Mingwu Su and Jianhao Su and Idris Sunmola and Kristóf Takács and Yunxi Tang and Patrick Thornycroft and Yu Tian and Jordan Thompson and Mehmet K. Turkcan and Mathias Unberath and Pietro Valdastri and Carlos Vives and Quan Vuong and Martin Wagner and Farong Wang and Wei Wang and Lidian Wang and Chung-Pang Wang and Guankun Wang and Junyi Wang and Erqi Wang and Ziyi Wang and Tanner Watts and Wolfgang Wein and Yimeng Wu and Zijian Wu and Hongjun Wu and Luohong Wu and Jie Ying Wu and Junlin Wu and Victoria Wu and Kaixuan Wu and Mateusz Wójcikowski and Yunye Xiao and Nan Xiao and Wenxuan Xie and Hao Yang and Tianqi Yang and Yinuo Yang and Menglong Ye and Ryan S. Yeung and Nural Yilmaz and Chim Ho Yin and Michael Yip and Rayan Younis and Chenhao Yu and Sayem Nazmuz Zaman and Milos Zefran and Han Zhang and Yuelin Zhang and Yidong Zhang and Yanyong Zhang and Xuyang Zhang and Yameng Zhang and Joyce Zhang and Ning Zhong and Peng Zhou and Haoying Zhou and Xiuli Zuo and Nassir Navab and Mahdi Azizian and Sean D. Huver and Axel Krieger},
journal= {arXiv preprint arXiv:2604.21017},
year = {2026}
}
备注
Project website: https://open-h.github.io/open-h-embodiment/