---
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. It has flavors collected
on
[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)
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 connectors
- Rotating a knob to a specified position
- Flipping switches on and off
- Reorienting and moving the BusyBox
- Pressing buttons of various colors



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}
}
```