A robot dataset of successful and failed placement executions
Introduced by Thoduka et al. in Using Visual Anomaly Detection for Task Execution Monitoring
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
Papers
| Paper | Code | Results | Date | Stars |
|---|
Dataset Loaders
No data loaders found. You can
submit your data loader here.
No data loaders found. You can
submit your data loader here.
