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