A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit <a rel="external noopener" href="https://arxiv.org/pdf/1911.04052v1.pdf">the original URL</a>. The file type is <code>application/pdf</code>.
<span class="release-stage" >pre-print</span>
Large, richly annotated datasets have accelerated progress in fields such as computer vision and natural language processing, but replicating these successes in robotics has been challenging. While prior data collection methodologies such as self-supervision have resulted in large datasets, the data can have poor signal-to-noise ratio. By contrast, previous efforts to collect task demonstrations with humans provide better quality data, but they cannot reach the same data magnitude. Furthermore,<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1911.04052v1">arXiv:1911.04052v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/imemzmglurcednuarepjmoy664">fatcat:imemzmglurcednuarepjmoy664</a> </span>
more »... neither approach places guarantees on the diversity of the data collected, in terms of solution strategies. In this work, we leverage and extend the RoboTurk platform to scale up data collection for robotic manipulation using remote teleoperation. The primary motivation for our platform is two-fold: (1) to address the shortcomings of prior work and increase the total quantity of manipulation data collected through human supervision by an order of magnitude without sacrificing the quality of the data and (2) to collect data on challenging manipulation tasks across several operators and observe a diverse set of emergent behaviors and solutions. We collected over 111 hours of robot manipulation data across 54 users and 3 challenging manipulation tasks in 1 week, resulting in the largest robot dataset collected via remote teleoperation. We evaluate the quality of our platform, the diversity of demonstrations in our dataset, and the utility of our dataset via quantitative and qualitative analysis. For additional results, supplementary videos, and to download our dataset, visit http://roboturk.stanford.edu/realrobotdataset .
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200826220826/https://arxiv.org/pdf/1911.04052v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/46/d8/46d8cbd8ceebbb8af1fc617ee8e8dba6aa0d3900.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1911.04052v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>