# Jacquard V2: Refining Datasets using the Human In the Loop Data Correction Method

arXiv: https://arxiv.org/abs/2402.05747 · HTML: https://mlsanity.com/paper/2402.05747/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 22 of its 33 references that are in the map.
- First posted on arXiv 8 Feb 2024.

## Builds on (most cited first, 22 of 22)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Batch Normalization: Accelerating Deep Network Training by Reducing Internal Covariate Shift](https://mlsanity.com/paper/1502.03167/) (2015)
- [Layer Normalization](https://mlsanity.com/paper/1607.06450/) (2016)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [Xception: Deep Learning with Depthwise Separable Convolutions](https://mlsanity.com/paper/1610.02357/) (2016)
- [Big Bird: Transformers for Longer Sequences](https://mlsanity.com/paper/2007.14062/) (2020)
- [ShuffleNet: An Extremely Efficient Convolutional Neural Network for Mobile Devices](https://mlsanity.com/paper/1707.01083/) (2017)
- [SqueezeNet: AlexNet-level accuracy with 50x fewer parameters and <0.5MB model size](https://mlsanity.com/paper/1602.07360/) (2016)
- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics](https://mlsanity.com/paper/1703.09312/) (2017)
- [Using Simulation and Domain Adaptation to Improve Efficiency of Deep Robotic Grasping](https://mlsanity.com/paper/1709.07857/) (2017)
- [Batch Renormalization: Towards Reducing Minibatch Dependence in Batch-Normalized Models](https://mlsanity.com/paper/1702.03275/) (2017)
- [Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach](https://mlsanity.com/paper/1804.05172/) (2018)
- [ACRONYM: A Large-Scale Grasp Dataset Based on Simulation](https://mlsanity.com/paper/2011.09584/) (2020)
- [Annotating Object Instances with a Polygon-RNN](https://mlsanity.com/paper/1704.05548/) (2017)
- [Jacquard: A Large Scale Dataset for Robotic Grasp Detection](https://mlsanity.com/paper/1803.11469/) (2018)
- [MM-Fi: Multi-Modal Non-Intrusive 4D Human Dataset for Versatile Wireless Sensing](https://mlsanity.com/paper/2305.10345/) (2023)
- [EasyLabel: A Semi-Automatic Pixel-wise Object Annotation Tool for Creating Robotic RGB-D Datasets](https://mlsanity.com/paper/1902.01626/) (2019)
- [LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes](https://mlsanity.com/paper/1707.04796/) (2017)
- [NTU VIRAL: A Visual-Inertial-Ranging-Lidar Dataset, From an Aerial Vehicle Viewpoint](https://mlsanity.com/paper/2202.00379/) (2022)
- [Find Your Own Way: Weakly-Supervised Segmentation of Path Proposals for Urban Autonomy](https://mlsanity.com/paper/1610.01238/) (2016)
- [Designing Deep Convolutional Neural Networks for Continuous Object Orientation Estimation](https://mlsanity.com/paper/1702.01499/) (2017)

## Built on by (most cited first, 3 of 3)

- [TAME: Temporal Audio-based Mamba for Enhanced Drone Trajectory Estimation and Classification](https://mlsanity.com/paper/2412.13037/) (2024)
- [NVP-HRI: Zero Shot Natural Voice and Posture-based Human-Robot Interaction via Large Language Model](https://mlsanity.com/paper/2503.09335/) (2025)
- [VLAD-Grasp: Zero-shot Grasp Detection via Vision-Language Models](https://mlsanity.com/paper/2511.05791/) (2025)

## Abstract (arXiv)

In the context of rapid advancements in industrial automation, vision-based robotic grasping plays an increasingly crucial role. In order to enhance visual recognition accuracy, the utilization of large-scale datasets is imperative for training models to acquire implicit knowledge related to the handling of various objects. Creating datasets from scratch is a time and labor-intensive process. Moreover, existing datasets often contain errors due to automated annotations aimed at expediency, making the improvement of these datasets a substantial research challenge. Consequently, several issues have been identified in the annotation of grasp bounding boxes within the popular Jacquard Grasp. We propose utilizing a Human-In-The-Loop(HIL) method to enhance dataset quality. This approach relies on backbone deep learning networks to predict object positions and orientations for robotic grasping. Predictions with Intersection over Union (IOU) values below 0.2 undergo an assessment by human operators. After their evaluation, the data is categorized into False Negatives(FN) and True Negatives(TN). FN are then subcategorized into either missing annotations or catastrophic labeling errors. Images lacking labels are augmented with valid grasp bounding box information, whereas images afflicted by catastrophic labeling errors are completely removed. The open-source tool Labelbee was employed for 53,026 iterations of HIL dataset enhancement, leading to the removal of 2,884 images and the incorporation of ground truth information for 30,292 images. The enhanced dataset, named the Jacquard V2 Grasping Dataset, served as the training data for a range of neural networks.