| --- |
| license: cdla-permissive-2.0 |
| task_categories: |
| - robotics |
| tags: |
| - Robotics |
| - Robot_manipulation |
| --- |
| |
| # BusyBox Dataset |
|
|
| ## Description |
| The BusyBox dataset is a collection of language-annotated demonstration trajectories for various tasks from the [BusyBox](https://microsoft.github.io/BusyBox/) benchmark, collected |
| by teleoperating a bimanual |
| [mobile Trossen Aloha](https://www.trossenrobotics.com/mobile-ai) robot. The dataset is in the [LeRobot](https://github.com/huggingface/lerobot) |
| v2.1 format. It contains several hours of data for the following BusyBox tasks: |
|
|
| - [Setting sliders to specified positions](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/MoveSlider) |
| - [Pulling out](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/PullWire) and [inserting](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/InsertWire) wires with audiojack-like connectors |
| - [Rotating a knob to a specified position](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/TurnKnob) |
| - [Flipping on/off switches](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/FlipSwitch) |
| - [Reorienting the BusyBox](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/MoveBox) |
| - [Pressing buttons of various colors](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/PushButton) |
| - [Moving the robot's arms in a prescribed manner](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/Reposition) |
|
|
| The [consolidated version](https://huggingface.co/datasets/microsoft/BusyBox/tree/main/consolidated_lerobot_v2.1) of the dataset contains all of the above. |
|
|
| Sample demonstrations of these tasks are shown in the following video: |
|
|
| <video src="https://microsoft.github.io/BusyBox/BusyBox_assets/bb_teleop.mp4" width="640" height="480" controls></video> |
|
|
|
|
| **BusyBox project page**: [https://github.com/microsoft/BusyBox](https://github.com/microsoft/BusyBox) |
|
|
|
|
| **Paper**: [see the project webpage](https://microsoft.github.io/BusyBox/) |
|
|
|
|
| ## Uses |
|
|
| This dataset can be used for finetuning VLAs for the BusyBox tasks as well as in earlier VLA training stages for enhancing the VLA's general |
| capabilities at controlling bimanual robots. |
|
|
|
|
| ## Contacts |
|
|
| [Galen Mullins](mailto:galenmullins@microsoft.com), [Andrey Kolobov](mailto:akolobov@microsoft.com) |
|
|
| ## Citation |
|
|
| ``` |
| @misc{busybox2025, |
| title={Benchmarking Affordance Generalization with BusyBox}, |
| author={Fortier, Dean and Adamson, Timothy and Hellebrekers, Tess and LaScala, Teresa and Ennin, Kofi and Murray, Michael and Kolobov, Andrey and Mullins, Galen}, |
| booktitle={Eval&Deploy Workshop at CoRL-2025: Evaluation and Deployment Across the Robot Learning Lifecycle}, |
| year={2025} |
| } |
| ``` |
