Zhenyu Zhao

Zhenyu Zhao, Hongyi Jing, Xiawei Liu et al.

From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary robot arms, and the few existing humanoid datasets are either confined to fixed environments or limited in task diversity, often lacking human-humanoid interaction and lower-body locomotion. Moreover, there are a few standardized evaluation platforms for benchmarking learning-based policies on humanoid data. In this work, we present Humanoid Everyday, a large-scale and diverse humanoid manipulation dataset characterized by extensive task variety involving dextrous object manipulation, human-humanoid interaction, locomotion-integrated actions, and more. Leveraging a highly efficient human-supervised teleoperation pipeline, Humanoid Everyday aggregates high-quality multimodal sensory data, including RGB, depth, LiDAR, and tactile inputs, together with natural language annotations, comprising 10.3k trajectories and over 3 million frames of data across 260 tasks across 7 broad categories. In addition, we conduct an analysis of representative policy learning methods on our dataset, providing insights into their strengths and limitations across different task categories. For standardized evaluation, we introduce a cloud-based evaluation platform that allows researchers to seamlessly deploy their policies in our controlled setting and receive performance feedback. By releasing Humanoid Everyday along with our policy learning analysis and a standardized cloud-based evaluation platform, we intend to advance research in general-purpose humanoid manipulation and lay the groundwork for more capable and embodied robotic agents in real-world scenarios. Our dataset, data collection code, and cloud evaluation website are made publicly available on our project website.

Chenxu Jiang, Chenglong Fu, Zhenyu Zhao et al.

Smart home IoT systems and devices are susceptible to attacks and malfunctions. As a result, users' concerns about their security and safety issues arise along with the prevalence of smart home deployments. In a smart home, various anomalies (such as fire or flooding) could happen, due to cyber attacks, device malfunctions, or human mistakes. These concerns motivate researchers to propose various anomaly detection approaches. Existing works on smart home anomaly detection focus on checking the sequence of IoT devices' events but leave out the temporal information of events. This limitation prevents them to detect anomalies that cause delay rather than missing/injecting events. To fill this gap, in this paper, we propose a novel anomaly detection method that takes the inter-event intervals into consideration. We propose an innovative metric to quantify the temporal similarity between two event sequences. We design a mechanism to learn the temporal patterns of event sequences of common daily activities. Delay-caused anomalies are detected by comparing the sequence with the learned patterns. We collect device events from a real-world testbed for training and testing. The experiment results show that our proposed method achieves accuracies of 93%, 88%, 89% for three daily activities.