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arXiv · 2512.24653

RoboMIND 2.0: A Multimodal, Bimanual Mobile Manipulation Dataset for Generalizable Embodied Intelligence

Chengkai Hou·Kun Wu·Jiaming Liu·Zhengping Che·Di Wu·Fei Liao·Guangrun Li·Jingyang He·Qiuxuan Feng·Zhao Jin·Chenyang Gu·Zhuoyang Liu·Nuowei Han·Xiangju Mi·Yaoxu Lv·Yankai Fu·Gaole Dai·Langzhe Gu·Tao Li·Yuheng Zhang·Yixue Zhang·Xinhua Wang·Shichao Fan·Meng Li·Zhen Zhao·Ning Liu·Zhiyuan Xu·Pei Ren·Junjie Ji·Haonan Liu·Kuan Cheng·Shanghang Zhang·Jian Tang
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Abstract

While data-driven imitation learning has revolutionized robotic manipulation, current approaches remain constrained by the scarcity of large-scale, diverse real-world demonstrations. Consequently, the ability of existing models to generalize across long-horizon bimanual tasks and mobile manipulation in unstructured environments remains limited. To bridge this gap, we present RoboMIND 2.0, a comprehensive real-world dataset comprising over 310K dual-arm manipulation trajectories collected across six distinct robot embodiments and 739 complex tasks. Crucially, to support research in contact-rich and spatially extended tasks, the dataset incorporates 12K tactile-enhanced episodes and 20K mobile manipulation trajectories. Complementing this physical data, we construct high-fidelity digital twins of our real-world environments, releasing an additional 20K-trajectory simulated dataset to facilitate robust sim-to-real transfer. To fully exploit the potential of RoboMIND 2.0, we propose MIND-2 system, a hierarchical dual-system frame-work optimized via offline reinforcement learning. MIND-2 integrates a high-level semantic planner (MIND-2-VLM) to decompose abstract natural language instructions into grounded subgoals, coupled with a low-level Vision-Language-Action executor (MIND-2-VLA), which generates precise, proprioception-aware motor actions.

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Chengkai Hou, Kun Wu, Jiaming Liu, Zhengping Che, Di Wu, Fei Liao, Guangrun Li, Jingyang He, Qiuxuan Feng, Zhao Jin, Chenyang Gu, Zhuoyang Liu, Nuowei Han, Xiangju Mi, Yaoxu Lv, Yankai Fu, Gaole Dai, Langzhe Gu, Tao Li, Yuheng Zhang, Yixue Zhang, Xinhua Wang, Shichao Fan, Meng Li, Zhen Zhao, Ning Liu, Zhiyuan Xu, Pei Ren, Junjie Ji, Haonan Liu, Kuan Cheng, Shanghang Zhang, Jian Tang. 2025-12-31. RoboMIND 2.0: A Multimodal, Bimanual Mobile Manipulation Dataset for Generalizable Embodied Intelligence. https://arxiv.org/abs/2512.24653

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