cometadata/datacite-titles-descriptions-related-identifiers huggingface dataset:
DOI: 10.5281/zenodo.10653956
title: Learning to Grasp Unknown Objects in Domestic Environments with GP-net+

description: This record includes data for the paper "Learning to Grasp Unknown Objects in Domestic Environments", currently under review.Simulation environment with pre-trained GP-net+ modelThe paper presents a simulation environment for grasping objects in domestic environments. The presented objects and furniture units, as well as a pre-trained GP-net+ model can be found in the "gpnetplus_simulation_data.zip" file. After this zip file is downloaded, it can be unpacked it into the GP-net+ directory. It includes all necessary data to use the simulation environment, for example, for testing GP-net+ or other grasping models in simulated domestic environments.

 

ROS model

The paper additionally presents an ROS package that can be deployed for grasping unknown objects in domestic environments with simulated or real robots. We make a ROS-compatbile model of GP-net+ available in the "ros_gpnet_plus.zip" file, which can be used with the ROS package.

 

Training dataset

We used the simulation environment in our paper to generate a training dataset and train GP-net+. This training dataset is included in this record and can be used to replicate our results or train modifications of GP-net+.

To improve handling of the training dataset (total size 25GB+), we split the dataset into several .zip files, named val.zip (validation data) and train_[0-6].zip (training data). Download all files individually and extract them into a single folder. Combine all files train_[0-6].zip directory into a single directory called 'train', for example, by using the 'move_train_data.sh' script provided.The final structure for the dataset should look similar to this:gpnet_data

|-- val

     |-- depth_image_0000000.npz

     |-- depth_image_0000001.npz

     ...

     |--segmask_image_0052346.npz

|-- train

    |-- depth_image_0000000.npz

    |-- depth_image_0000001.npz

    ...

    |-- segmask_image_0602506.npz

    |-- segmask_image_0602507.npz

For generation of the training and simulation data, the following mesh databases have been used:B. Calli, A. Walsman, A. Singh, S. Srinivasa, P. Abbeel, and A. M. Dollar,"Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set," IEEE Robotics and Automation Magazine, vol. 22, no. 3, pp. 36–52, 2015A. Singh, J. Sha, K. S. Narayan, T. Achim, and P. Abbeel, "BigBIRD: A large-scale 3D database of object instances," 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 509–516, 2014.A. X. Chang, T. Funkhouser, L. Guibas, P. Hanrahan, Q. Huang, Z. Li, S. Savarese, M. Savva, S. Song, H. Su, J. Xiao, L. Yi, and F. Yu, "ShapeNet: An Information-Rich 3D Model Repository," Tech. Rep. arXiv:1512.03012 [cs.GR], Stanford University — Princeton University — Toyota Technological Institute at Chicago, 2015.

D. Morrison, P. Corke, and J. Leitner, "EGAD! An Evolved Grasping Analysis Dataset for Diversity and Reproducibility in Robotic Manipulation," IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4368–4375, 2020
DOI: 10.5517/ccdc.csd.cc2hn039
title: CCDC 2313130: Experimental Crystal Structure Determination

description: Related Article: Mannar R. Maurya, Monojit Nandi, Naveen Kumar, Fernando Avecilla|2024|Chem.-Eur.J.|30|e202400631|doi:10.1002/chem.202400631
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2hpbh1
title: CCDC 2314413: Experimental Crystal Structure Determination

description: Related Article: Eric C. Moinet, Philipp Wetzel, Olivier Tardif, Cäcilia Maichle-Mössmer, Reiner Anwander|2024|Organometallics|43|611|doi:10.1021/acs.organomet.3c00518
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2hpbj2
title: CCDC 2314414: Experimental Crystal Structure Determination

description: Related Article: Eric C. Moinet, Philipp Wetzel, Olivier Tardif, Cäcilia Maichle-Mössmer, Reiner Anwander|2024|Organometallics|43|611|doi:10.1021/acs.organomet.3c00518
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2hpbk3
title: CCDC 2314415: Experimental Crystal Structure Determination

description: Related Article: Eric C. Moinet, Philipp Wetzel, Olivier Tardif, Cäcilia Maichle-Mössmer, Reiner Anwander|2024|Organometallics|43|611|doi:10.1021/acs.organomet.3c00518
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2hpbl4
title: CCDC 2314416: Experimental Crystal Structure Determination

description: Related Article: Eric C. Moinet, Philipp Wetzel, Olivier Tardif, Cäcilia Maichle-Mössmer, Reiner Anwander|2024|Organometallics|43|611|doi:10.1021/acs.organomet.3c00518
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2hpbm5
title: CCDC 2314417: Experimental Crystal Structure Determination

description: Related Article: Eric C. Moinet, Philipp Wetzel, Olivier Tardif, Cäcilia Maichle-Mössmer, Reiner Anwander|2024|Organometallics|43|611|doi:10.1021/acs.organomet.3c00518
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2hpz28
title: CCDC 2315020: Experimental Crystal Structure Determination

description: Related Article: Urminder Kaur, Shippy Jaiswal, Marie Cordier, Boniface P. T. Fokwa, Sundargopal Ghosh|2024|Organometallics|43|617|doi:10.1021/acs.organomet.3c00534
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.5517/ccdc.csd.cc2hx5g2
title: CCDC 2320984: Experimental Crystal Structure Determination

description: Related Article: Jordan K. Pierce, Emily A. McEachern, Fengrui Qu, Logan M. Whitt, Ken Belmore, Kevin H. Shaughnessy|2024|Organometallics|43|737|doi:10.1021/acs.organomet.3c00526
description: An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.
DOI: 10.15468/dl.xdhvty
title: Occurrence Download

description: A dataset listing the 3279021 species recorded in GBIF matching the query:
{ }

 The dataset's 3279021 records were derived from 29659 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0045250-200221144449610/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.c9vzlg
title: Occurrence Download

description: A dataset containing 13 species occurrences available in GBIF matching the query:
{
 "and" : [
 "Country is Mexico",
 "TaxonKey is Hoita Rydb."
 ]
}

 The dataset includes 13 records from 8 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0008495-190813142620410/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.25582/data.2023-04.2783698/2336075
title: Data for EMSL Project 51287 from April 2023
DOI: 10.15468/dl.fgjqx4
title: Occurrence Download

description: A dataset containing 58 species occurrences available in GBIF matching the query:
{
 "and" : [
 "HasCoordinate is true",
 "TaxonKey is Alopoglossus festae (Peracca, 1896)",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 58 records from 6 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0011355-190813142620410/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.25582/data.2023-04.2783180/2336076
title: Data for EMSL Project 51287 from April 2023
DOI: 10.15468/dl.epdz4w
title: Occurrence Download

description: A dataset containing 29 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Sesleria rigida Heuff. ex Rchb.",
 "HasCoordinate is true",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 29 records from 13 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0081481-231120084113126/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.26adfp
title: Occurrence Download

description: A dataset containing 16 species occurrences available in GBIF matching the query:
{
 "and" : [
 "BasisOfRecord is Specimen",
 "HasCoordinate is true",
 "HasGeospatialIssue is false",
 "OccurrenceStatus is Present",
 "TaxonKey is Coffea abbayesii J.-F.Leroy"
 ]
}

 The dataset includes 16 records from 7 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0229784-200613084148143/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.g2qzw2
title: Occurrence Download

description: A dataset containing 0 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Sesleria heuflerana",
 "HasCoordinate is true",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 0 records from 0 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0081490-231120084113126/datasets/export for details.
DOI: 10.25582/data.2023-04.2783996/2336077
title: Data for EMSL Project 51287 from April 2023
DOI: 10.15468/dl.x26nvc
title: Occurrence Download

description: A dataset containing 13 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Dioscorea flaccida R.Knuth"
 ]
}

 The dataset includes 13 records from 8 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0154122-240321170329656/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.lghfnm
title: Occurrence Download

description: A dataset containing 13 species occurrences available in GBIF matching the query:
{
 "and" : [
 "Country is Guyana",
 "HasCoordinate is true",
 "TaxonKey is Caluromys philander (Linnaeus, 1758)",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 13 records from 4 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0014641-190621201848488/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.mjs5j6
title: Occurrence Download

description: A dataset containing 38 species occurrences available in GBIF matching the query:
{
 "and" : [
 "BasisOfRecord is Specimen",
 "HasCoordinate is true",
 "HasGeospatialIssue is false",
 "OccurrenceStatus is Present",
 "TaxonKey is Peperomia trifolia (L.) A.Dietr."
 ]
}

 The dataset includes 38 records from 11 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0012777-210819072339941/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.maspz4
title: Occurrence Download

description: A dataset containing 4 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Sesleria filifolia Hoppe",
 "HasCoordinate is true",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 4 records from 2 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0081491-231120084113126/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.25582/data.2023-04.2783800/2336078
title: Data for EMSL Project 51287 from April 2023
DOI: 10.15468/dl.ogev5a
title: Occurrence Download

description: A dataset containing 9630892 species occurrences available in GBIF matching the query:
{
 "DatasetKey" : [
 "is naturgucker"
 ]
}

 The dataset includes 9630892 records from 1 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0024007-190621201848488/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.nhqddu
title: Occurrence Download

description: A dataset containing 94 species occurrences available in GBIF matching the query:
{
 "and" : [
 "Country is Colombia",
 "HasCoordinate is true",
 "HasGeospatialIssue is false",
 "InstitutionCode is icn",
 "TaxonKey is Symphyogyna brasiliensis Nees"
 ]
}

 The dataset includes 94 records from 1 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0229787-200613084148143/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.25582/data.2023-04.2783466/2336079
title: Data for EMSL Project 51287 from April 2023
DOI: 10.15468/dl.wnmeva
title: Occurrence Download

description: A dataset containing 71 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Sesleria coerulans Friv.",
 "HasCoordinate is true",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 71 records from 14 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0081497-231120084113126/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.iezlak
title: Occurrence Download

description: A dataset containing 4042909 species occurrences available in GBIF matching the query:
{
 "and" : [
 {
 "or" : [
 "BasisOfRecord is Observation",
 "BasisOfRecord is Machine Observation",
 "BasisOfRecord is Human Observation",
 "BasisOfRecord is Material sample",
 "BasisOfRecord is Specimen",
 "BasisOfRecord is Living Specimen",
 "BasisOfRecord is Unknown evidence"
 ]
 },
 "Year 1950-2019",
 "HasCoordinate is true",
 "TaxonKey is Odonata",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 4042909 records from 1164 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0024022-190621201848488/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.25582/data.2023-04.2783436/2336080
title: Data for EMSL Project 51287 from April 2023
DOI: 10.15468/dl.ebkgg9
title: Occurrence Download

description: A dataset containing 47 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Cuscuta tinei Inzenga"
 ]
}

 The dataset includes 47 records from 14 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0015014-210819072339941/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.q9hz58
title: Occurrence Download

description: A dataset containing 2903 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Sceloporus aeneus Wiegmann, 1828"
 ]
}

 The dataset includes 2903 records from 50 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0081504-231120084113126/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.mnlzkm
title: Occurrence Download

description: A dataset listing the 2 species recorded in GBIF matching the query:
{
 "TaxonKey" : [
 "is Mitu mitu (Linnaeus, 1766)"
 ]
}

 The dataset's 2 records were derived from 32 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0024018-190621201848488/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.25582/data.2023-04.2783953/2336081
title: Data for EMSL Project 51287 from April 2023
DOI: 10.15468/dl.jmntbf
title: Occurrence Download

description: A dataset containing 97 species occurrences available in GBIF matching the query:
{
 "and" : [
 "Continent is South America",
 "Country is Colombia",
 "OccurrenceStatus is Present",
 "TaxonKey is Ranitomeya bombetes (Myers & Daly, 1980)"
 ]
}

 The dataset includes 97 records from 4 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0220246-200613084148143/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.gk2hqr
title: Occurrence Download

description: A dataset containing 19354 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Dryopteris borreri (Newman) Oberh. & Tavel",
 "HasCoordinate is true",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 19354 records from 311 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0081495-231120084113126/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.4yxqr4
title: Occurrence Download

description: A dataset containing 1 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Cyrtochilum triphyllum (Ruiz & Pav.) Pupulin"
 ]
}

 The dataset includes 1 records from 1 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0155004-240321170329656/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.nvwdf6
title: Occurrence Download

description: A dataset containing 27 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Domingoa gemma (Rchb.f.) Van den Berg & Soto Arenas"
 ]
}

 The dataset includes 27 records from 10 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0155005-240321170329656/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.03ierk
title: Occurrence Download

description: A dataset containing 55683 species occurrences available in GBIF matching the query:
{
 "DatasetKey" : [
 "is UWBM Mammalogy Collection (Arctos)"
 ]
}

 The dataset includes 55683 records from 1 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0017002-190813142620410/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.7zqgfr
title: Occurrence Download

description: A dataset containing 41 species occurrences available in GBIF matching the query:
{
 "and" : [
 {
 "and" : [
 "HasGeospatialIssue is false",
 "HasCoordinate is true",
 "OccurrenceStatus is Present",
 {
 "not" : {
 "BasisOfRecord" : [
 "is one of (Fossil, Living Specimen)"
 ]
 }
 }
 ]
 },
 "TaxonKey is Todiramphus cinnamominus (Swainson, 1821)"
 ]
}

 The dataset includes 41 records from 7 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0055439-240229165702484/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.fdw7e4
title: Occurrence Download

description: A dataset containing 16 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Dendroviguiera guerrerana (Panero & E.E.Schill.) E.E.Schill. & Panero"
 ]
}

 The dataset includes 16 records from 11 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0155006-240321170329656/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.cxu6uu
title: Occurrence Download

description: A dataset containing 2693 species occurrences available in GBIF matching the query:
{
 "DatasetKey" : [
 "is SILENE-FAUNE-PACA - SMGDP_2017_12_18"
 ]
}

 The dataset includes 2693 records from 1 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0232653-200613084148143/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.krzrwu
title: Occurrence Download

description: A dataset containing 7558 species occurrences available in GBIF matching the query:
{
 "and" : [
 "Country is Switzerland",
 "TaxonKey is Basidiomycota"
 ]
}

 The dataset includes 7558 records from 80 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0016997-190813142620410/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.422fut
title: Occurrence Download

description: A dataset containing 719 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Macrotyloma uniflorum (Lam.) Verdc."
 ]
}

 The dataset includes 719 records from 54 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0055444-240229165702484/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.xgyyw9
title: Occurrence Download

description: A dataset containing 13 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Ctenodon leptostachyus (Benth.) D.B.O.S.Cardoso, Filardi & H.C.Lima"
 ]
}

 The dataset includes 13 records from 7 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0155007-240321170329656/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.