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

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.

An interpretability framework for Similar case matching

Similar Case Matching (SCM) is designed to determine whether two cases are similar. The task has an essential role in the legal system, helping legal professionals to find relevant cases quickly and thus deal with them more efficiently. Existing research has focused on improving the model's performance but not on its interpretability. Therefore, this paper proposes a pipeline framework for interpretable SCM, which consists of four modules: a judicial feature sentence identification module, a case matching module, a feature sentence alignment module, and a conflict disambiguation module. Unlike existing SCM methods, our framework will identify feature sentences in a case that contain essential information, perform similar case matching based on the extracted feature sentence results, and align the feature sentences in the two cases to provide evidence for the similarity of the cases. SCM results may conflict with feature sentence alignment results, and our framework further disambiguates against this inconsistency. The experimental results show the effectiveness of our framework, and our work provides a new benchmark for interpretable SCM.