{"url":"/dataset/ur5-tool-dataset","name":"UR5 Tool Dataset","full_name":null,"description_markdown":"In this dataset UR5 robot used 6 tools: metal-scissor, metal-whisk, plastic-knife, plastic-spoon, wooden-chopstick, and wooden-fork to perform 6 behaviors: look, stirring-slow, stirring-fast, stirring-twist, whisk, and poke. The robot explored 15 objects: cane-sugar, chia-seed, chickpea, detergent, empty, glass-bead, kidney-bean, metal-nut-bolt, plastic-bead, salt, split-green-pea, styrofoam-bead, water, wheat, and wooden-button kept cylindrical containers. The robot performed 10 trials on each object using a tool, resulting in 5,400 interactions (6 tools x 6 behaviors x 15 objects x 10 trials). The robot records multiple sensory data (audio, RGB images, depth images, haptic, and touch images) while interacting with the objects.","description_withheld":null,"homepage":"https://www.eecs.tufts.edu/~gtatiya/pages/2023/UR5_Tool_Dataset.html","introduced_date":"2023-03-07","introduced_date_note":null,"introduced_by":{"paper":"/paper/cross-tool-and-cross-behavior-perceptual","title":"Cross-Tool and Cross-Behavior Perceptual Knowledge Transfer for Grounded Object Recognition","first_author":null,"url":null},"license":null,"modalities":[{"name":"Images","url":"/datasets/modality/images"},{"name":"Videos","url":"/datasets/modality/videos"},{"name":"Audio","url":"/datasets/modality/audio"},{"name":"Interactive","url":"/datasets/modality/interactive"},{"name":"Time series","url":"/datasets/modality/time-series"},{"name":"RGB-D","url":"/datasets/modality/rgb-d"},{"name":"Actions","url":"/datasets/modality/actions"},{"name":"RGB Video","url":"/datasets/modality/rgb-video"}],"tasks":[{"name":"Object Recognition","url":"/task/object-recognition","datasets_with_task":"/datasets/task/object-recognition"},{"name":"3D Object Classification","url":"/task/3d-object-classification","datasets_with_task":"/datasets/task/3d-object-classification"},{"name":"Object Categorization","url":"/task/object-categorization","datasets_with_task":"/datasets/task/object-categorization"}],"languages":[{"name":"English","url":"/datasets/language/english"}],"variants":["UR5 Tool Dataset"],"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."}