Dataset Open Access

A robot dataset of successful and failed placement executions

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


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    <subfield code="a">&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;</subfield>
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