Tabletop Tidying Up (TTU) Dataset

About The Dataset

Download

You can download TTU dataset from the URL below:

https://drive.google.com/drive/folders/1IfoVZwOTbjoapbo2uRAHHm0loH1GONUZ

The driver contains the files below:

train_B.tar.gz, train_C.tar.gz, train_D.tar.gz, train_O.tar.gz, test_SU.tar.gz, test_US.tar.gz, test_UU.tar.gz

After downloading all the compressed files, uncompress the datasets using the command below:

$ source untar.sh

Data Structure

TTU_dataset/
  ├── train/
  │     └── {scene_id}/                          # scene_id:         (B1, B2, …, C1, C2, …, D1, D2, …, O1, O2, …)
  │         └── template_{template_num}/         # template_num:     (00001 ~ 00016)
  │             └── traj_{trajectory_num}/       # trajectory_num:   (00000 ~ 00099)
  │                 └── {frame_num}/             # frame_num:        (000 ~ 004)
  │                     ├── rgb_top.png
  │                     ├── rgb_front_top.png
  │                     ├── depth_top.npy
  │                     ├── deoth_front_top.npy
  │                     ├── seg_top.npy
  │                     ├── seg_front_top.npy
  │                     └── obj_info.json
  ├── test-seen_obj-unseen_template/
  │     └── ...
  ├── test-unseen_obj-seen_template/
  │     └── ...
  └── test-unseen_obj-unseen_template/
        └── ...

Contact

Hogun Kee - hogun.kee@rllab.snu.ac.kr

Wooseok Oh - wooseok.oh@rllab.snu.ac.kr

Citation

If you find our dataset useful in your research, plase cite:

@misc{Kee_TTU_Dataset_Dataset_2024,
    author = {Kee, Hogun and Oh, Wooseok and Oh, Songhwai},
    month = sep,
    title = {{TTU Dataset: Dataset for Tabletop Tidying Up Problem}},
    url = {https://github.com/rllab-snu/TTU-Dataset/},
    year = {2024}
}

License

Distributed under the MIT License. See LICENSE for more information.