{"id":"https://openalex.org/W7133909458","doi":"https://doi.org/10.48550/arxiv.2603.04249","title":"RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation","display_name":"RoboLight: A Dataset with Linearly Composable Illumination for Robotic Manipulation","publication_year":2026,"publication_date":"2026-03-04","ids":{"openalex":"https://openalex.org/W7133909458","doi":"https://doi.org/10.48550/arxiv.2603.04249"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.04249","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023878608","display_name":"Shutong Jin","orcid":"https://orcid.org/0000-0003-0611-4239"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jin, Shutong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128165477","display_name":"Jin Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Jin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128166839","display_name":"Muhammad Zahid","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zahid, Muhammad","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5018027629","display_name":"Florian T. Pokorny","orcid":"https://orcid.org/0000-0003-1114-6040"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pokorny, Florian T.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023878608"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.334199994802475,"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":0.334199994802475,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2004999965429306,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10531","display_name":"Advanced Vision and Imaging","score":0.10779999941587448,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6516000032424927},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.6083999872207642},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6032000184059143},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5418999791145325},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.47780001163482666},{"id":"https://openalex.org/keywords/structured-light","display_name":"Structured light","score":0.39250001311302185},{"id":"https://openalex.org/keywords/cube","display_name":"Cube (algebra)","score":0.361299991607666},{"id":"https://openalex.org/keywords/linearity","display_name":"Linearity","score":0.3540000021457672}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7121999859809875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6571999788284302},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6516000032424927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6402999758720398},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.6083999872207642},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6032000184059143},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5418999791145325},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.47780001163482666},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4287000000476837},{"id":"https://openalex.org/C193581530","wikidata":"https://www.wikidata.org/wiki/Q683778","display_name":"Structured light","level":2,"score":0.39250001311302185},{"id":"https://openalex.org/C53051483","wikidata":"https://www.wikidata.org/wiki/Q861555","display_name":"Cube (algebra)","level":2,"score":0.361299991607666},{"id":"https://openalex.org/C77170095","wikidata":"https://www.wikidata.org/wiki/Q1753188","display_name":"Linearity","level":2,"score":0.3540000021457672},{"id":"https://openalex.org/C171836373","wikidata":"https://www.wikidata.org/wiki/Q2266329","display_name":"Linear interpolation","level":3,"score":0.3327000141143799},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C2961294","wikidata":"https://www.wikidata.org/wiki/Q166863","display_name":"Color space","level":3,"score":0.2720000147819519},{"id":"https://openalex.org/C36372059","wikidata":"https://www.wikidata.org/wiki/Q376492","display_name":"HSL and HSV","level":3,"score":0.26499998569488525},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.04249","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.04249","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.04249","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.04249","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0,117],"this":[1],"paper,":[2],"we":[3,100],"introduce":[4,101],"RoboLight,":[5],"the":[6,95,111,126,132,148,161,169],"first":[7],"real-world":[8,29,139],"robotic":[9],"manipulation":[10],"dataset":[11,133],"capturing":[12],"synchronized":[13],"episodes":[14,30,106],"under":[15],"systematically":[16],"varied":[17],"lighting":[18],"conditions.":[19],"RoboLight":[20],"consists":[21],"of":[22,72,97,115,150,160],"two":[23],"components.":[24],"(a)":[25],"RoboLight-Real":[26],"contains":[27],"2,800":[28],"collected":[31],"in":[32,86,110],"our":[33],"custom":[34],"Light":[35],"Cube":[36],"setup,":[37],"a":[38,67],"calibrated":[39],"system":[40,170],"equipped":[41],"with":[42,66,168],"eight":[43],"programmable":[44],"RGB":[45],"LED":[46],"lights.":[47],"It":[48],"includes":[49],"structured":[50],"illumination":[51],"variation":[52],"along":[53,167],"three":[54,156],"independently":[55],"controlled":[56],"dimensions:":[57],"color,":[58],"direction,":[59],"and":[60,75,138,147,172],"intensity.":[61],"Each":[62],"dimension":[63],"is":[64],"paired":[65],"dedicated":[68],"task":[69,143],"featuring":[70],"objects":[71],"diverse":[73],"geometries":[74],"materials":[76],"to":[77,90,180],"induce":[78],"perceptual":[79],"challenges.":[80],"All":[81],"image":[82,113],"data":[83],"are":[84],"recorded":[85],"high-dynamic-range":[87],"(HDR)":[88],"format":[89],"preserve":[91],"radiometric":[92],"accuracy.":[93],"Leveraging":[94],"linearity":[96],"light":[98],"transport,":[99],"(b)":[102],"RoboLight-Synthetic,":[103],"comprising":[104],"196,000":[105],"synthesized":[107,151],"through":[108,135],"interpolation":[109,127],"HDR":[112],"space":[114],"RoboLight-Real.":[116],"principle,":[118],"RoboLight-Synthetic":[119],"can":[120],"be":[121,176],"arbitrarily":[122],"expanded":[123],"by":[124],"refining":[125],"granularity.":[128],"We":[129,153],"further":[130],"verify":[131],"quality":[134],"qualitative":[136],"analysis":[137],"policy":[140],"roll-outs,":[141],"analyzing":[142],"difficulty,":[144],"distributional":[145],"diversity,":[146],"effectiveness":[149],"data.":[152],"additionally":[154],"demonstrate":[155],"representative":[157],"use":[158],"cases":[159],"proposed":[162],"dataset.":[163],"The":[164],"full":[165],"dataset,":[166],"software":[171],"hardware":[173],"design,":[174],"will":[175],"released":[177],"as":[178],"open-source":[179],"support":[181],"continued":[182],"research.":[183]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-06T00:00:00"}