Contributing
The Oopsie Dataset is a community effort. We are collecting failure data from diverse robots, tasks, and environments.
Currently, we focus on single-arm and bi-arm manipulator robots. To ensure the collected data is broadly useful across different labs, we are especially interested in data from standardized setups, such as the DROID Franka setup, the SERL Franka setup, the Trossen Aloha setup, the Trossen WidowX Bridgev2 setup, YAM or ARX bimanual setups, etc. However, if you have other systems that you believe will be useful for the community, please also submit your data! Failure data on non-standard systems is still very useful for many research directions.
Who can contribute?
Anyone who rolls out a policy on a real robot. If the robot is moving under a policy, you are already generating the data we need:
- Policy evaluation. Every eval run produces exactly the mix of successes and failures we are after.
- RL experiments. Online training rollouts are full of the suboptimal behavior that is missing from every other dataset.
- Play data collection. Unscripted interaction, including the parts that go wrong.
You do not necessarily have to run anything extra; you just have to keep what you would otherwise throw away.
Why should YOU contribute?
Open data and cross-lab collaboration are how academics take on ambitious robotics projects. Beyond that, contributing labs get:
- A say in the dataset. Take part in shaping the dataset and adapting the tooling, the data format, and the utilities we build around it for your use-case.
- Early access. Contributors get pre-release versions of the dataset for their research. Having your own robot in the dataset also means future work built on it comes with lab-specific fine-tuning data for free.
- Co-authorship. Everyone who collects a substantial amount of data and gives us feedback is invited as a co-author on the public release.
Contribution Requirements
We welcome all levels of contribution from the community. For significant contributors, we will recognize you as a co-author on the public release and paper. Formal requirements coming soon!