Dataset Open Access

A robot dataset of successful and failed placement executions

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

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<oai_dc:dc xmlns:dc="" xmlns:oai_dc="" xmlns:xsi="" xsi:schemaLocation="">
  <dc:creator>Thoduka, Santosh</dc:creator>
  <dc:creator>Gall, Juergen</dc:creator>
  <dc:creator>Plöger, Paul G.</dc:creator>
  <dc:description>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

  <dc:title>A robot dataset of successful and failed placement executions</dc:title>
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