Search Results - Data Sets for Robot Learning

Interactive Language: Talking to Robots in Real Time by 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 by 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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OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition by 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 by 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 by 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 by 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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DSEC: A Stereo Event Camera Dataset for Driving Scenarios by 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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MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets by 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 by 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 by 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 by 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 by 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 by 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 by 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 by 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 by 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 by 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 by 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 by 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 by 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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