README.md

---
dataset_info:
  features:
  - name: rgb
    dtype: image
  - name: meta
    struct:
    - name: id
      dtype: string
    - name: label
      dtype: string
    - name: polygon
      sequence:
        sequence: int64
    - name: sublabel
      dtype: string
  splits:
  - name: train
    num_bytes: 63572306115
    num_examples: 141132
  download_size: 70351144035
  dataset_size: 63572306115
configs:
- config_name: default
  data_files:
  - split: train
    path: data/train-*
license: cc-by-4.0
---

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}
}