task_categories:
- robotics
language:
- en
PhysicalAI-Robotics-Manipulation-Objects is a dataset of automatic generated motions of robots performing operations such as picking and placing objects in a kitchen environment. The dataset was generated in IsaacSim leveraging reasoning algorithms to find solutions to the tasks automatically [1]. The dataset includes a bimanual manipulator built with Kinova Gen3 arms. The environments are kitchen scenes where the furniture and appliances were procedurally generated [2].
This dataset is for research and development only.
Dataset Contact(s):
Fabio Ramos ([email protected])
Anqi Li ([email protected])
Dataset Creation Date:
03/18/2025
License/Terms of Use:
Non-commercial
Intended Usage:
This dataset is provided in LeRobot format and is intended for training robot policies and foundation models.
Dataset Characterization
** Data Collection Method
- [Automated]
- [Automatic/Sensors]
- [Synthetic]
** Labeling Method
- [Synthetic]
Dataset Format
Within the collection, there are three datasets in LeRobot format pick, place_bench, and place_cabinet.
pick
[Insert Modality and Format Classification]
Dataset Quantification
[Insert Record Count- Note number of records (images, video, audio files, etcetera)] [Insert Feature Count- Note features present in record count above (e.g. tags)] [Insert Measurement of Total Data Storage]
Reference(s):
[1] @inproceedings{garrett2020pddlstream,
title={Pddlstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning},
author={Garrett, Caelan Reed and Lozano-P{\'e}rez, Tom{\'a}s and Kaelbling, Leslie Pack},
booktitle={Proceedings of the international conference on automated planning and scheduling},
volume={30},
pages={440--448},
year={2020}
}
[2] @article{Eppner2024,
title = {scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation},
author = {Clemens Eppner and Adithyavairavan Murali and Caelan Garrett and Rowland O'Flaherty and Tucker Hermans and Wei Yang and Dieter Fox},
journal = {Journal of Open Source Software}
publisher = {The Open Journal},
year = {2024},
Note = {\url{https://scene-synthesizer.github.io/}}
}
Ethical Considerations:
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