A robot dataset of successful and failed placement executions

홈페이지 · 논문 1편

The dataset contains the following data from successful and failed executions of the Toyota HSR robot placing a book on a shelf. * RGB images from the robot's head camera * Depth images from the robot's head camera * Rendered images of the robot's 3D model from the point of view of the robot's head camera * Force-torque readings from a wrist-mounted force-torque sensor * Joint efforts, velocities and positions * extrinsic and intrinsic camera calibration parameters * frame-level anomaly annotations The anomalies that occur during execution include: * the manipulated book falling down * books on the shelf being disturbed significantly * camera occlusions * robot being disturbed by an external collision The dataset is split into a train, validation and test set with the following number of trials: * Train: 48 successful trials * Validation: 6 successful trials * Test: 60 anomalous trials and 7 successful trials