Suchergebnisse - Data Sets for Robot Learning

Interactive Language: Talking to Robots in Real Time von Lynch, Corey, Wahid, Ayzaan, Tompson, Jonathan, Ding, Tianli, Betker, James, Baruch, Robert, Armstrong, Travis, Florence, Pete

“… We present a framework for building interactive, real-time, natural language-instructable robots in the real world, and we open source related assets …”
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CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Tasks von Mees, Oier, Hermann, Lukas, Rosete-Beas, Erick, Burgard, Wolfram Burgard

“… General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range of daily tasks …”
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DSEC: A Stereo Event Camera Dataset for Driving Scenarios von Gehrig, Mathias, Aarents, Willem, Gehrig, Daniel, Scaramuzza, Davide

“… To address these challenges, we propose, DSEC, a new dataset that contains such demanding illumination conditions and provides a rich set of sensory data …”
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OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition von Ma, Junyi, Zhang, Jun, Xu, Jintao, Ai, Rui, Gu, Weihao, Chen, Xieyuanli

“… Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key …”
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HAPTR2: Improved Haptic Transformer for legged robots’ terrain classification von Bednarek, Michał, Nowicki, Michał R., Walas, Krzysztof

“… The haptic terrain classification is an essential component of a mobile walking robot control system, ensuring proper gait adaptation to the changing environmental conditions …”
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Generation of GelSight Tactile Images for Sim2Real Learning von Gomes, Daniel Fernandes, Paoletti, Paolo, Luo, Shan

“… Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation …”
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VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM von Gao, Ling, Liang, Yuxuan, Yang, Jiaqi, Wu, Shaoxun, Wang, Chenyu, Chen, Jiaben, Kneip, Laurent

“… Our contribution is the first complete set of benchmark datasets captured with a multi-sensor setup containing an event-based stereo camera, a regular stereo camera, multiple depth sensors …”
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MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets von Chamzas, Constantinos, Quintero-Pena, Carlos, Kingston, Zachary, Orthey, Andreas, Rakita, Daniel, Gleicher, Michael, Toussaint, Marc, Kavraki, Lydia E.

“… other state-of-the-art planners. We present MotionBenchMaker , an open-source tool to generate benchmarking datasets for realistic robot manipulation problems …”
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LEMMA: Learning Language-Conditioned Multi-Robot Manipulation von Gong, Ran, Gao, Xiaofeng, Gao, Qiaozi, Shakiah, Suhaila, Thattai, Govind, Sukhatme, Gaurav S.

“… Complex manipulation tasks often require robots with complementary capabilities to collaborate …”
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SACSoN: Scalable Autonomous Control for Social Navigation von Hirose, Noriaki, Shah, Dhruv, Sridhar, Ajay, Levine, Sergey

“… By observing and understanding human interactions from past experiences, learning can enable effective social navigation behaviors directly from data …”
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ViViD++ : Vision for Visibility Dataset von Lee, Alex Junho, Cho, Younggun, Shin, Young-sik, Kim, Ayoung, Myung, Hyun

“… In this letter, we present a dataset capturing diverse visual data formats that target varying luminance conditions …”
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Informed Federated Learning to Train a Robotic Arm Inverse Dynamic Model von Jimenez-Perera, Gabriel, Valencia-Vidal, Brayan, Luque, Niceto R., Ros, Eduardo, Barranco, Francisco

“… Specifically, machine-learning-based inverse dynamic models show promising results for nonrigid robot identification, but the data used to train them are often kept private due to intellectual property protections …”
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MotIF: Motion Instruction Fine-Tuning von Hwang, Minyoung, Hejna, Joey, Sadigh, Dorsa, Bisk, Yonatan

“… , if an apple is picked up - many tasks require observing the full motion of the robot to correctly determine success …”
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CEAR: Comprehensive Event Camera Dataset for Rapid Perception of Agile Quadruped Robots von Zhu, Shifan, Xiong, Zixun, Kim, Donghyun

“… To bridge this gap, we introduce CEAR, a dataset comprising data from an event camera, an RGB-D camera, an IMU, a LiDAR, and joint encoders, all mounted on a dynamic quadruped, Mini Cheetah robot …”
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Multimodal Detection and Classification of Robot Manipulation Failures von Inceoglu, Arda, Aksoy, Eren Erdal, Sariel, Sanem

“… An autonomous service robot should be able to interact with its environment safely and robustly without requiring human assistance …”
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MoSS: Monocular Shape Sensing for Continuum Robots von Shentu, Chengnan, Li, Enxu, Chen, Chaojun, Dewi, Puspita T., Lindell, David B., Burgner-Kahrs, Jessica

“… Continuum robots are promising candidates for interactive tasks in medical and industrial applications due to their unique shape, compliance, and miniaturization capability …”
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Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items von Downs, Laura, Francis, Anthony, Koenig, Nate, Kinman, Brandon, Hickman, Ryan, Reymann, Krista, McHugh, Thomas B., Vanhoucke, Vincent

“… Interactive 3D simulations have enabled break-throughs in robotics and computer vision, but simulating the broad diversity of environments needed for deep learning requires large corpora of photo …”
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Benchmarking the Sim-to-Real Gap in Cloth Manipulation von Blanco-Mulero, David, Barbany, Oriol, Alcan, Gokhan, Colome, Adria, Torras, Carme, Kyrki, Ville

“… Realistic physics engines play a crucial role for learning to manipulate deformable objects such as garments in simulation …”
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HHI-Assist: A Dataset and Benchmark of Human-Human Interaction in Physical Assistance Scenario von Saadatnejad, Saeed, Hosseininejad, Reyhaneh, Barreiros, Jose, Tsui, Katherine M., Alahi, Alexandre

“… The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients …”
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Action-Inclusive Multi-Future Prediction Using a Generative Model in Human-Related Scenes for Mobile Robots von Xu, Chenfei, Ahmad, Huthaifa, Okadome, Yuya, Ishiguro, Hiroshi, Nakamura, Yutaka

“… While traditional prediction-based approaches primarily estimate partial features for robot decision making, such as position and velocity, recent world models enable direct prediction of future sensory data …”
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