---
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}
}
```