# iCub World: Friendly Robots Help Building Good Vision Data-Sets

arXiv: https://arxiv.org/abs/1306.3560 · HTML: https://mlsanity.com/paper/1306.3560/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Jun 2013.

## Built on by (most cited first, 10 of 10)

- [CLAD: A realistic Continual Learning benchmark for Autonomous Driving](https://mlsanity.com/paper/2210.03482/) (2022)
- [Data Summarization via Bilevel Optimization](https://mlsanity.com/paper/2109.12534/) (2021)
- [VERSE: Virtual-Gradient Aware Streaming Lifelong Learning with Anytime Inference](https://mlsanity.com/paper/2309.08227/) (2023)
- [Class Incremental Online Streaming Learning](https://mlsanity.com/paper/2110.10741/) (2021)
- [Streaming LifeLong Learning With Any-Time Inference](https://mlsanity.com/paper/2301.11892/) (2023)
- [Swiss DINO: Efficient and Versatile Vision Framework for On-device Personal Object Search](https://mlsanity.com/paper/2407.07541/) (2024)
- [MOCHA: Multi-modal Objects-aware Cross-arcHitecture Alignment](https://mlsanity.com/paper/2509.14001/) (2025)
- [Fast and Automatic Object Registration for Human-Robot Collaboration in Industrial Manufacturing](https://mlsanity.com/paper/2204.00597/) (2022)
- [Automatic Bounding Box Annotation with Small Training Data Sets for Industrial Manufacturing](https://mlsanity.com/paper/2206.00280/) (2022)
- [Feature-Space Generative Models for One-Shot Class-Incremental Learning](https://mlsanity.com/paper/2601.17905/) (2026)

## Abstract (arXiv)

In this paper we present and start analyzing the iCub World data-set, an object recognition data-set, we acquired using a Human-Robot Interaction (HRI) scheme and the iCub humanoid robot platform. Our set up allows for rapid acquisition and annotation of data with corresponding ground truth. While more constrained in its scopes -- the iCub world is essentially a robotics research lab -- we demonstrate how the proposed data-set poses challenges to current recognition systems. The iCubWorld data-set is publicly available. The data-set can be downloaded from: http://www.iit.it/en/projects/data-sets.html.