Over the course of our research, when we run experiements, we will endeavor to package up the results of those experiments for public use. This page lists published datasets along with recommended citations, should you use that data.
Manual Cube Tossing
For our ContactNets work, we threw a 10 cm acrylic cube into a wooden surface, where it bounced, rolled, and slid. AprilTags were used to record pose information at 148 Hz. We collected 570 such tosses.
ContactNets: Learning of Discontinuous Contact Dynamics with Smooth, Implicit RepresentationsIn The Conference on Robot Learning (CoRL), 2020
When evaluating our impact invariant controller, we collected 29 examples of Cassie jumping and landing.
Validating Robotics Simulators on Real World ImpactsIEEE Robotics and Automation Letters (RA-L), 2022