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A robot dataset of successful and failed placement executions

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


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  <identifier identifierType="DOI">10.5281/zenodo.4578539</identifier>
  <creators>
    <creator>
      <creatorName>Thoduka, Santosh</creatorName>
      <givenName>Santosh</givenName>
      <familyName>Thoduka</familyName>
      <affiliation>Hochschule Bonn-Rhein-Sieg</affiliation>
    </creator>
    <creator>
      <creatorName>Gall, Juergen</creatorName>
      <givenName>Juergen</givenName>
      <familyName>Gall</familyName>
      <affiliation>University of Bonn</affiliation>
    </creator>
    <creator>
      <creatorName>Plöger, Paul G.</creatorName>
      <givenName>Paul G.</givenName>
      <familyName>Plöger</familyName>
      <affiliation>Hochschule Bonn-Rhein-Sieg</affiliation>
    </creator>
  </creators>
  <titles>
    <title>A robot dataset of successful and failed placement executions</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2021</publicationYear>
  <dates>
    <date dateType="Issued">2021-03-03</date>
  </dates>
  <resourceType resourceTypeGeneral="Dataset"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/4578539</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.5281/zenodo.4578538</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;The dataset contains the following data from successful and failed executions of the Toyota HSR robot placing a book on a shelf.&lt;/p&gt;

&lt;ul&gt;
	&lt;li&gt;RGB images from the robot&amp;#39;s head camera&lt;/li&gt;
	&lt;li&gt;Depth images from the robot&amp;#39;s head camera&lt;/li&gt;
	&lt;li&gt;Rendered images of the robot&amp;#39;s 3D model from the point of view of the robot&amp;#39;s head camera&lt;/li&gt;
	&lt;li&gt;Force-torque readings from a wrist-mounted force-torque sensor&lt;/li&gt;
	&lt;li&gt;Joint efforts, velocities and positions&lt;/li&gt;
	&lt;li&gt;extrinsic and intrinsic camera calibration parameters&lt;/li&gt;
	&lt;li&gt;frame-level anomaly annotations&lt;/li&gt;
&lt;/ul&gt;

&lt;p&gt;The anomalies that occur during execution include:&lt;/p&gt;

&lt;ul&gt;
	&lt;li&gt;the manipulated book falling down&lt;/li&gt;
	&lt;li&gt;books on the shelf being disturbed significantly&lt;/li&gt;
	&lt;li&gt;camera occlusions&lt;/li&gt;
	&lt;li&gt;robot being disturbed by an external collision&lt;/li&gt;
&lt;/ul&gt;

&lt;p&gt;The dataset is split into a train, validation and test set with the following number of trials:&lt;/p&gt;

&lt;ul&gt;
	&lt;li&gt;&lt;strong&gt;Train&lt;/strong&gt;: 48 successful trials&lt;/li&gt;
	&lt;li&gt;&lt;strong&gt;Validation&lt;/strong&gt;: 6 successful trials&lt;/li&gt;
	&lt;li&gt;&lt;strong&gt;Test&lt;/strong&gt;: 60 anomalous trials and 7 successful trials&lt;/li&gt;
&lt;/ul&gt;

&lt;p&gt;&amp;nbsp;&lt;/p&gt;</description>
  </descriptions>
</resource>
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