This paper introduces the Safe Protective and Assistive Robot Kit (SPARK), a comprehensive benchmark designed to ensure safety in humanoid autonomy and teleoperation. Humanoid robots pose significant safety risks due to their physical capabilities of interacting with complex environments. The physical structures of humanoid robots further add complexity to the design of general safety solutions. To facilitate safe deployment of complex robot systems, SPARK can be used as a toolbox that comes with state-of-the-art safe control algorithms in a modular and composable robot control framework. Users can easily configure safety criteria and sensitivity levels to optimize the balance between safety and performance. To accelerate humanoid safety research and development, SPARK provides simulation benchmarks that compare safety approaches in a variety of environments, tasks, and robot models. Furthermore, SPARK allows quick deployment of synthesized safe controllers on real robots. For hardware deployment, SPARK supports Apple Vision Pro (AVP) or a Motion Capture System as external sensors, while offering interfaces for seamless integration with alternative hardware setups at the same time. This paper demonstrates SPARK's capability with both simulation experiments and case studies with a Unitree G1 humanoid robot. Leveraging these advantages of SPARK, users and researchers can significantly improve the safety of their humanoid systems as well as accelerate relevant research. The open source code is available at: https://github.com/intelligent-control-lab/spark.

翻译：本文介绍安全防护与辅助机器人套件（SPARK），这是一个旨在确保仿人机器人自主操作与遥操作安全性的综合基准测试平台。仿人机器人因其与复杂环境交互的物理能力而存在显著的安全风险。仿人机器人的物理结构进一步增加了通用安全解决方案设计的复杂性。为促进复杂机器人系统的安全部署，SPARK可作为模块化可组合机器人控制框架中的工具箱，提供最先进的安全控制算法。用户可便捷配置安全标准与灵敏度等级，以优化安全性与性能之间的平衡。为加速仿人机器人安全研究与发展，SPARK提供仿真基准测试，可在多样化环境、任务与机器人模型中比较不同安全方案。此外，SPARK支持将合成的安全控制器快速部署至实体机器人。在硬件部署方面，SPARK支持Apple Vision Pro（AVP）或动作捕捉系统作为外部传感器，同时提供接口以兼容其他硬件配置。本文通过仿真实验与Unitree G1仿人机器人案例研究展示了SPARK的功能。借助SPARK的上述优势，用户与研究者可显著提升仿人机器人系统的安全性，并加速相关领域研究。开源代码发布于：https://github.com/intelligent-control-lab/spark。