{"url":"/dataset/book-placement","name":"A robot dataset of successful and failed placement executions","full_name":null,"description_markdown":"The dataset contains the following data from successful and failed executions of the Toyota HSR robot placing a book on a shelf.\r\n\r\n* RGB images from the robot's head camera\r\n* Depth images from the robot's head camera\r\n* Rendered images of the robot's 3D model from the point of view of the robot's head camera\r\n* Force-torque readings from a wrist-mounted force-torque sensor\r\n* Joint efforts, velocities and positions\r\n* extrinsic and intrinsic camera calibration parameters\r\n* frame-level anomaly annotations\r\n\r\nThe anomalies that occur during execution include:\r\n\r\n* the manipulated book falling down\r\n* books on the shelf being disturbed significantly\r\n* camera occlusions\r\n* robot being disturbed by an external collision\r\n\r\nThe dataset is split into a train, validation and test set with the following number of trials:\r\n\r\n* Train: 48 successful trials\r\n* Validation: 6 successful trials\r\n* Test: 60 anomalous trials and 7 successful trials","description_withheld":null,"homepage":"https://doi.org/10.5281/zenodo.4578539","introduced_date":"2021-03-03","introduced_date_note":null,"introduced_by":{"paper":"/paper/using-visual-anomaly-detection-for-task","title":"Using Visual Anomaly Detection for Task Execution Monitoring","first_author":"Santosh Thoduka","url":null},"license":{"name":"Creative Commons Attribution 4.0 International Public License","url":"https://creativecommons.org/licenses/by/4.0/legalcode"},"modalities":[],"tasks":[],"languages":[],"variants":["A robot dataset of successful and failed placement executions"],"data_loaders":[],"num_papers_in_archive":1,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[],"papers_with_a_benchmark_row":[],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":0,"samples_harvested":0,"samples_ran":0,"samples_unverified":0,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}