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[
1096,
1374
],
[
1028,
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],
[
1017,
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],
[
987,
1262
],
[
911,
1171
],
[
900,
1158
],
[
897,
1151
],
[
889,
1092
],
[
878,
1012
],
[
867,
910
],
[
859,
830
],
[
859,
826
],
[
881,
816
]
],
"sublabel": "none"
} |
|
{
"id": "001023001652885190168_3.jpg",
"label": "nominal",
"polygon": [
[
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],
[
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],
[
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],
[
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],
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],
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911,
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],
[
924,
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],
[
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],
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[
1218,
805
],
[
1262,
780
],
[
1278,
771
]
],
"sublabel": "none"
} |
|
{
"id": "001023001652885190168_4.jpg",
"label": "nominal",
"polygon": [
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],
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],
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],
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911,
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],
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887
],
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878
],
[
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],
[
1194,
862
]
],
"sublabel": "none"
} |
|
{
"id": "007091001653003744752_1.jpg",
"label": "nominal",
"polygon": [
[
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],
[
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],
[
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],
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],
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],
[
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],
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],
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],
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],
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],
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932,
589
],
[
952,
573
],
[
984,
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]
],
"sublabel": "none"
} |
|
{
"id": "007091001653003744752_2.jpg",
"label": "nominal",
"polygon": [
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],
[
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],
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],
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],
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976,
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[
984,
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],
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998,
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],
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],
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1028,
1353
],
[
1041,
1340
],
[
1063,
1322
],
[
1077,
1312
],
[
1098,
1306
],
[
1115,
1303
]
],
"sublabel": "none"
} |
|
{
"id": "007091001653003744752_3.jpg",
"label": "nominal",
"polygon": [
[
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],
[
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],
[
1275,
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],
[
1313,
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],
[
1368,
1096
],
[
1392,
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],
[
1395,
1124
],
[
1395,
1181
],
[
1381,
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1370,
1215
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[
1362,
1221
],
[
1351,
1228
],
[
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],
[
1262,
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],
[
1156,
1201
],
[
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1192
],
[
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],
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],
[
1093,
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],
[
1104,
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],
[
1115,
1055
],
[
1131,
1042
],
[
1150,
1033
]
],
"sublabel": "none"
} |
|
{
"id": "007091001653003744752_4.jpg",
"label": "nominal",
"polygon": [
[
1164,
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],
[
1185,
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],
[
1218,
1033
],
[
1253,
1144
],
[
1253,
1199
],
[
1240,
1219
],
[
1213,
1237
],
[
1188,
1247
],
[
1158,
1247
],
[
1134,
1237
],
[
1120,
1228
],
[
1104,
1208
],
[
1096,
1192
],
[
1093,
1185
],
[
1082,
1153
],
[
1071,
1117
],
[
1071,
1080
],
[
1082,
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[
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],
[
1107,
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],
[
1120,
1005
],
[
1142,
998
],
[
1150,
996
]
],
"sublabel": "none"
} |
|
{
"id": "026169001652744517593_1.jpg",
"label": "nominal",
"polygon": [
[
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],
[
1101,
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],
[
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],
[
1131,
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],
[
1131,
1103
],
[
1128,
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],
[
1126,
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],
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],
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],
[
1088,
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],
[
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],
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],
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1071,
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],
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],
[
1020,
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[
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],
[
998,
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],
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984,
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],
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],
[
987,
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],
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1028,
1083
],
[
1033,
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],
[
1039,
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]
],
"sublabel": "none"
} |
|
{
"id": "026169001652744517593_2.jpg",
"label": "nominal",
"polygon": [
[
998,
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],
[
1014,
816
],
[
1066,
860
],
[
1079,
880
],
[
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],
[
1145,
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],
[
1142,
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],
[
1101,
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],
[
1093,
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],
[
1020,
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],
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1017,
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[
1006,
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],
[
952,
862
],
[
943,
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],
[
943,
832
],
[
946,
828
],
[
971,
814
],
[
990,
805
]
],
"sublabel": "none"
} |
|
{
"id": "026169001652744517593_3.jpg",
"label": "nominal",
"polygon": [
[
1311,
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],
[
1395,
1080
],
[
1414,
1087
],
[
1438,
1128
],
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1438,
1135
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[
1392,
1190
],
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1286,
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[
1251,
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[
1194,
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],
[
1117,
1274
],
[
1104,
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[
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1253
],
[
1096,
1242
],
[
1259,
1069
],
[
1272,
1060
]
],
"sublabel": "none"
} |
|
{
"id": "026169001652744517593_4.jpg",
"label": "nominal",
"polygon": [
[
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],
[
1210,
969
],
[
1262,
1287
],
[
1262,
1299
],
[
1256,
1301
],
[
1248,
1303
],
[
1215,
1310
],
[
1202,
1310
],
[
1191,
1301
],
[
1169,
1265
],
[
1161,
1249
],
[
1158,
1242
],
[
1147,
1126
],
[
1136,
998
],
[
1136,
967
],
[
1139,
962
],
[
1145,
960
]
],
"sublabel": "none"
} |
This is data from the Amazon Armbench dataset (https://armbench.s3.amazonaws.com/index.html).
Each image is labeled with the failure mode {'nominal', 'package_defect', 'multi_pick'} in the 'label' field. Failures are further specified in the 'sublabel' field {book_jacket', 'open_book_jacket', 'open_book', 'partial_box', 'empty_bag', 'torn_bag', 'open_box', 'crush_box'}.
Each image also contains a 'polygon' highlighting the area of interest.
To cite this dataset, please use
@article{mitash2023armbench, title={ARMBench: An object-centric benchmark dataset for robotic manipulation}, author={Mitash, Chaitanya and Wang, Fan and Lu, Shiyang and Terhuja, Vikedo, and Garaas, Tyler and Polido, Felipe and Nambi, Manikantan}, journal={arXiv preprint arXiv:2303.16382}, year={2023} }
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