Data Sets

Robot Arm Pushing

A collection of 95k examples of a robot arm pushing a variety of objects. The dataset contains RGB-D views of the arm, gripper and objects, along with actuation and position parameters.

Title Robot Arm Pushing
Overview he data here is from the following publication: Unsupervised Learning for Physical Interaction through Video Prediction Chelsea Finn, Ian Goodfellow, Sergey Levine NIPS, 2016. [arXiv] [PDF] This data set contains roughly 59,000 examples of robot pushing motions, including one training set (train) and two test sets of previously seen (testseen) and unseen (testnovel) objects. Feature descriptions and counts -- This sheet describes the meanings of the features in the push dataset and lists the number of examples with each feature. The Example protobufs are stored in Tensorflow RecordWriter format. The files are named: push_/push_.tfrecord--of- The script linked at the bottom of the page will use curl to download all (137GB) of the data files. $ ./ push_listing.txt ./push_dataset Convert Images to GIFs The script,, can be used to convert the images from each training example in the dataset into an animated gif. The code assumes that the training data is in the directory "push/push_train/". It requires TensorFlow (v0.11) and moviepy. Later versions of TensorFlow should require minimal modifications, if any. The moviepy package can be installed with 'sudo pip install moviepy'. The script can be run via 'python'. Some example gifs that the script produces are: License: This data is licensed by Google Inc. under a Creative Commons Attribution 4.0 International License.
  • MachineLearning
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