发表机构
State Key Laboratory of General Artificial Intelligence, School of Intelligence Science and Technology, Peking University; Delta Intelligence; PKU-Wuhan Institute for Artificial Intelligence; Hubei Humanoid Robot Innovation Center Co., Ltd.; China Academy of Information and Communications Technology（北京大学智能科学与技术学院通用人工智能国家重点实验室; 三角洲智能公司; 北京大学武汉人工智能研究院; 湖北人形机器人创新中心有限公司; 中国信息通信研究院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文介绍PRISM——一个面向高接触工业操作的大规模多模态数据集，涵盖25余项操作任务，包含5000余条共45小时的遥操作演示，为高精度工业场景的多模态感知与控制提供真实基准。
AI 中文摘要
机器人学习领域的近期进展得益于在日常环境中收集的大规模数据集。然而，现有大多数数据集聚焦于短周期、低接触任务，如抓取与放置，因此未涵盖工业装配所需的高精度控制、力/力矩或触觉调节，以及多模态反馈。为填补这一空白，本文介绍PRISM，一个面向高接触工业操作的大规模多模态数据集。该数据集涵盖25余项操作任务（如电子部件插拔、基于传送带的分拣），并包含多样的机械约束。PRISM包含超过5000条轨迹，总计45小时的遥操作演示，通过同步多视角RGB-D、力/力矩、触觉及机器人状态测量记录。与家庭或实验室环境收集的数据集不同，PRISM为高精度工业约束下的多模态感知与控制提供了真实基准，并为现实制造环境中高接触、可泛化的操作提供基础。该数据集已开源，地址为：this https URL
英文摘要
Recent progress in robotic learning has been fueled by large-scale datasets collected in everyday environments. However, most existing datasets emphasize short-horizon, low-contact tasks such as pick-and-place, and therefore do not capture the precision control, force/torque or tactile regulation, and multimodal feedback required for industrial assembly. To address this gap, we introduce PRISM, a large-scale multimodal dataset for contact-rich industrial operations. The dataset spans more than 25 manipulation tasks (e.g., electronic components plug/unplug, conveyor-based sorting) and covers diverse mechanical constraints. PRISM includes more than 5,000 trajectories totaling 45 hours of teleoperated demonstrations, recorded using synchronized multi-view RGB-D, force/torque, tactile, and robot-state measurements. In contrast to datasets collected in household or laboratory settings, PRISM provides a realistic benchmark for multimodal perception and control under high-precision industrial constraints, and serves as a foundation for contact-rich, generalizable manipulation in real-world manufacturing environments. The dataset is open-sourced at: https://tengbo-yu.github.io/PRISM/
