Dataset Open Access

A robot dataset of successful and failed placement executions

Thoduka, Santosh; Gall, Juergen; Plöger, Paul G.

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  "publisher": "Zenodo", 
  "DOI": "10.5281/zenodo.4578539", 
  "author": [
      "family": "Thoduka, Santosh"
      "family": "Gall, Juergen"
      "family": "Pl\u00f6ger, Paul G."
  "issued": {
    "date-parts": [
  "abstract": "<p>The dataset contains the following data from successful and failed executions of the Toyota HSR robot placing a book on a shelf.</p>\n\n<ul>\n\t<li>RGB images from the robot&#39;s head camera</li>\n\t<li>Depth images from the robot&#39;s head camera</li>\n\t<li>Rendered images of the robot&#39;s 3D model from the point of view of the robot&#39;s head camera</li>\n\t<li>Force-torque readings from a wrist-mounted force-torque sensor</li>\n\t<li>Joint efforts, velocities and positions</li>\n\t<li>extrinsic and intrinsic camera calibration parameters</li>\n\t<li>frame-level anomaly annotations</li>\n</ul>\n\n<p>The anomalies that occur during execution include:</p>\n\n<ul>\n\t<li>the manipulated book falling down</li>\n\t<li>books on the shelf being disturbed significantly</li>\n\t<li>camera occlusions</li>\n\t<li>robot being disturbed by an external collision</li>\n</ul>\n\n<p>The dataset is split into a train, validation and test set with the following number of trials:</p>\n\n<ul>\n\t<li><strong>Train</strong>: 48 successful trials</li>\n\t<li><strong>Validation</strong>: 6 successful trials</li>\n\t<li><strong>Test</strong>: 60 anomalous trials and 7 successful trials</li>\n</ul>\n\n<p>&nbsp;</p>", 
  "title": "A robot dataset of successful and failed placement executions", 
  "type": "dataset", 
  "id": "4578539"
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