4 papers
RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation
Shutong Jin, Jin Yang, Muhammad Zahid +1
In this paper, we introduce RoboLight, the first real-world robotic manipulation dataset capturing synchronized episodes under systematically varied lighting conditions. RoboLight…
R900: Understanding the Cost-Effectiveness of Random Exploration from 900 Hours of Robotic Data Collection
Shutong Jin, Axel Kaliff, Ruiyu Wang +2
Data scarcity presents a key bottleneck for imitation learning in robotic manipulation. In this paper, we focus on random exploration data-actions and video sequences produced auto…
How Physics and Background Attributes Impact Video Transformers in Robotic Manipulation: A Case Study on Planar Pushing
Shutong Jin, Ruiyu Wang, Muhammad Zahid +1
As model and dataset sizes continue to scale in robot learning, the need to understand how the composition and properties of a dataset affect model performance becomes increasingly…
CloudGripper: An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale
Muhammad Zahid, Florian T. Pokorny
We present CloudGripper, an open source cloud robotics testbed, consisting of a scalable, space and cost-efficient design constructed as a rack of 32 small robot arm work cells. Ea…