{"id":"https://openalex.org/W3003310656","doi":"https://doi.org/10.1109/iros40897.2019.8968114","title":"Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity","display_name":"Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003310656","doi":"https://doi.org/10.1109/iros40897.2019.8968114","mag":"3003310656"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968114","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968114","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026180478","display_name":"Ajay Mandlekar","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ajay Mandlekar","raw_affiliation_strings":["Stanford University,Stanford AI Lab (SAIL)","Stanford AI Lab (SAIL), Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford AI Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford AI Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069272382","display_name":"Jonathan Booher","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Booher","raw_affiliation_strings":["Stanford University,Stanford AI Lab (SAIL)","Stanford AI Lab (SAIL), Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford AI Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford AI Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008790606","display_name":"Max Spero","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Max Spero","raw_affiliation_strings":["Stanford University,Stanford AI Lab (SAIL)","Stanford AI Lab (SAIL), Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford AI Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford AI Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005911114","display_name":"Albert Tung","orcid":"https://orcid.org/0000-0002-6129-7819"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Albert Tung","raw_affiliation_strings":["Stanford University,Stanford AI Lab (SAIL)","Stanford AI Lab (SAIL), Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford AI Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford AI Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081592288","display_name":"Anchit Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anchit Gupta","raw_affiliation_strings":["Stanford University,Stanford AI Lab (SAIL)","Stanford AI Lab (SAIL), Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford AI Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford AI Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030826237","display_name":"Yuke Zhu","orcid":"https://orcid.org/0000-0002-9198-2227"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuke Zhu","raw_affiliation_strings":["Stanford University,Stanford AI Lab (SAIL)","Stanford AI Lab (SAIL), Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford AI Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford AI Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["Nvidia,USA","Nvidia, USA"],"affiliations":[{"raw_affiliation_string":"Nvidia,USA","institution_ids":["https://openalex.org/I4210127875"]},{"raw_affiliation_string":"Nvidia, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042646536","display_name":"Silvio Savarese","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Silvio Savarese","raw_affiliation_strings":["Stanford University,Stanford AI Lab (SAIL)","Stanford AI Lab (SAIL), Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford AI Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford AI Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100450462","display_name":"Li Fei-Fei","orcid":"https://orcid.org/0000-0002-7481-0810"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li Fei-Fei","raw_affiliation_strings":["Stanford University,Stanford AI Lab (SAIL)","Stanford AI Lab (SAIL), Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford AI Lab (SAIL)","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford AI Lab (SAIL), Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5026180478"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.3284,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.89086441,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1048","last_page":"1055"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7728618383407593},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7566556930541992},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6957637667655945},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6427332162857056},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5892199277877808},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5885282158851624},{"id":"https://openalex.org/keywords/data-quality","display_name":"Data quality","score":0.5573213696479797},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.5504308342933655},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.4524775743484497},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42217540740966797},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4207674264907837},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41717594861984253}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7728618383407593},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7566556930541992},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6957637667655945},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6427332162857056},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5892199277877808},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5885282158851624},{"id":"https://openalex.org/C24756922","wikidata":"https://www.wikidata.org/wiki/Q1757694","display_name":"Data quality","level":3,"score":0.5573213696479797},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.5504308342933655},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.4524775743484497},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42217540740966797},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4207674264907837},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41717594861984253},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968114","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968114","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1494902192","https://openalex.org/W1581764178","https://openalex.org/W1967390389","https://openalex.org/W1980969546","https://openalex.org/W1986014385","https://openalex.org/W2009504203","https://openalex.org/W2051441824","https://openalex.org/W2085302753","https://openalex.org/W2108598243","https://openalex.org/W2121095571","https://openalex.org/W2126496149","https://openalex.org/W2131171082","https://openalex.org/W2133068870","https://openalex.org/W2134491302","https://openalex.org/W2157289187","https://openalex.org/W2167224731","https://openalex.org/W2170940415","https://openalex.org/W2201912979","https://openalex.org/W2203344779","https://openalex.org/W2472053385","https://openalex.org/W2592582799","https://openalex.org/W2593994643","https://openalex.org/W2600030077","https://openalex.org/W2601066903","https://openalex.org/W2741122588","https://openalex.org/W2748397487","https://openalex.org/W2769112066","https://openalex.org/W2810785043","https://openalex.org/W2883140436","https://openalex.org/W2896868419","https://openalex.org/W2942459156","https://openalex.org/W2952411203","https://openalex.org/W2962936820","https://openalex.org/W2963030226","https://openalex.org/W2963323070","https://openalex.org/W2963390419","https://openalex.org/W2963669336","https://openalex.org/W2963703448","https://openalex.org/W2963825768","https://openalex.org/W2990674467","https://openalex.org/W4235002031","https://openalex.org/W4300198501","https://openalex.org/W4313387916","https://openalex.org/W6629585730","https://openalex.org/W6634680318","https://openalex.org/W6679958247","https://openalex.org/W6684338915","https://openalex.org/W6735544697","https://openalex.org/W6743369165","https://openalex.org/W6744925309","https://openalex.org/W6751955673","https://openalex.org/W6753243525","https://openalex.org/W6755243447","https://openalex.org/W6756039355","https://openalex.org/W6757358677","https://openalex.org/W6770092508"],"related_works":["https://openalex.org/W2791292784","https://openalex.org/W1542787062","https://openalex.org/W1499929574","https://openalex.org/W1997137227","https://openalex.org/W2070844871","https://openalex.org/W2032412711","https://openalex.org/W2806940962","https://openalex.org/W2051441824","https://openalex.org/W4292103105","https://openalex.org/W2768849908"],"abstract_inverted_index":{"Large,":[0],"richly":[1],"annotated":[2],"datasets":[3],"have":[4,34,42],"accelerated":[5],"progress":[6],"in":[7,21,36,80,185,189,209],"fields":[8],"such":[9,31],"as":[10,32],"computer":[11],"vision":[12],"and":[13,90,122,146,158,166,180,212,220,228],"natural":[14],"language":[15],"processing,":[16],"but":[17,60],"replicating":[18],"these":[19],"successes":[20],"robotics":[22],"has":[23],"been":[24],"challenging.":[25],"While":[26],"prior":[27,120],"data":[28,40,66,78,98,129,145,150,176],"collection":[29,99],"methodologies":[30],"self-supervision":[33],"resulted":[35],"large":[37],"datasets,":[38],"the":[39,64,74,77,92,117,124,141,144,190,200,205,213],"can":[41],"poor":[43],"signal-to-noise":[44],"ratio.":[45],"By":[46],"contrast,":[47],"previous":[48],"efforts":[49],"to":[50,95,115,148,229],"collect":[51,149],"task":[52],"demonstrations":[53,208],"with":[54],"humans":[55],"provide":[56],"better":[57],"quality":[58,142,201],"data,":[59],"they":[61],"cannot":[62],"reach":[63],"same":[65],"magnitude.":[67],"Furthermore,":[68],"neither":[69],"approach":[70],"places":[71],"guarantees":[72],"on":[73,151],"diversity":[75,206],"of":[76,82,119,127,137,143,163,173,202,207,215],"collected,":[79],"terms":[81],"solution":[83],"strategies.":[84],"In":[85],"this":[86],"work,":[87],"we":[88],"leverage":[89],"extend":[91],"RoboTurk":[93],"platform":[94,111],"scale":[96],"up":[97],"for":[100,109],"robotic":[101],"manipulation":[102,128,153,175,183],"using":[103],"remote":[104,196],"teleoperation.":[105,197],"The":[106],"primary":[107],"motivation":[108],"our":[110,203,210,216,231],"is":[112],"two-fold:":[113],"(1)":[114],"address":[116],"shortcomings":[118],"work":[121],"increase":[123],"total":[125],"quantity":[126],"collected":[130,169,194],"through":[131],"human":[132],"supervision":[133],"by":[134],"an":[135],"order":[136],"magnitude":[138],"without":[139],"sacrificing":[140],"(2)":[147],"challenging":[152,182],"tasks":[154,184],"across":[155,177],"several":[156],"operators":[157],"observe":[159],"a":[160],"diverse":[161],"set":[162],"emergent":[164],"behaviors":[165],"solutions.":[167],"We":[168,198],"over":[170],"111":[171],"hours":[172],"robot":[174,192],"54":[178],"users":[179],"3":[181],"1":[186],"week,":[187],"resulting":[188],"largest":[191],"dataset":[193,217],"via":[195,218],"evaluate":[199],"platform,":[204],"dataset,":[211,232],"utility":[214],"quantitative":[219],"qualitative":[221],"analysis.":[222],"For":[223],"additional":[224],"results,":[225],"supplementary":[226],"videos,":[227],"download":[230],"visit":[233],"http;//roboturk.stanford.edu/realrobotdataset.":[234]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}