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microsoft/BusyBox

BusyBox Dataset Description The BusyBox dataset is a collection of language-annotated demonstration trajectories for various tasks from the BusyBox benchmark. It has flavors collected on Trossen Aloha Mobile and I2RT YAM Box robots. Data from all embodiments is in the LeRobot format and comprises several hours of teleoperated demonstrations for the following BusyBox tasks: Setting sliders to specified positions Pulling out and inserting wires with barrel… See the full description on the dataset page: https://huggingface.co/datasets/microsoft/BusyBox.

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1---2license: cdla-permissive-2.03task_categories:4- robotics5tags:6- Robotics7- Robot_manipulation8---9 10# BusyBox Dataset11 12## Description13The BusyBox dataset is a collection of language-annotated demonstration trajectories for various tasks from the [BusyBox](https://microsoft.github.io/BusyBox/) benchmark. It has flavors collected14on15[Trossen Aloha Mobile](https://www.trossenrobotics.com/aloha-mobile) and [I2RT YAM Box](https://i2rt.com/products/yam-box) robots. Data from all embodiments is in the [LeRobot](https://github.com/huggingface/lerobot)16format and comprises several hours of teleoperated demonstrations for the following BusyBox tasks:17 18- Setting sliders to specified positions19- Pulling out and inserting wires with barrel connectors20- Rotating a knob to a specified position21- Flipping switches on and off22- Reorienting and moving the BusyBox23- Pressing buttons of various colors24 25 26 27Sample demonstrations of these tasks are shown in the following video:28 29<video src="https://microsoft.github.io/BusyBox/BusyBox_assets/bb_teleop.mp4" width="640" height="480" controls></video>30 31 32**BusyBox project page**: [https://github.com/microsoft/BusyBox](https://github.com/microsoft/BusyBox)33 34 35**Paper**: [see the project webpage](https://microsoft.github.io/BusyBox/)36 37 38## Uses39 40This dataset can be used for finetuning VLAs for the BusyBox tasks as well as in earlier VLA training stages for enhancing the VLA's general41capabilities at controlling bimanual robots.42 43 44## Contacts45 46[Galen Mullins](mailto:galenmullins@microsoft.com), [Andrey Kolobov](mailto:akolobov@microsoft.com)47 48## Citation49 50```51@misc{busybox2025,52  title={Benchmarking Affordance Generalization with BusyBox},53  author={Fortier, Dean and Adamson, Timothy and Hellebrekers, Tess and LaScala, Teresa and Ennin, Kofi and Murray, Michael and Kolobov, Andrey and Mullins, Galen},54  booktitle={Eval&Deploy Workshop at CoRL-2025: Evaluation and Deployment Across the Robot Learning Lifecycle},55  year={2025}56}57```