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A defect was intentionally introduced in the actuator of joint 3 (removal of gearbox lubricant), causing gradual mechanical wear over pick-and-place cycles. Unlike existing robotics AD datasets where anomalies are artificially induced, ME-AD documents an actual progressive hardware fault, making it uniquely suited for benchmarking semi-supervised anomaly detection, online/early fault detection, and remaining useful life estimation.\n\nAt a Glance\n\n\n\nThe size of the unzipped dataset is ~10GB. The dataset contains approximately 17,000 pick-and-place cycles organized into 7 operation groups called tasks across 3 motion families. Each cycle includes joint positions, velocities, accelerations, and torques sampled at ~280 Hz.\n\nThe dataset provides raw CSV files, cleaned Pandas DataFrames (.pkl), and pre-configured AD task splits. Each data sample contains 6 joint positions (rad), 6 joint velocities (rad/s), 6 joint accelerations (rad/s²), and 6 joint torques (Nm). Processed files include both raw and low-pass filtered signals.\n\nME-AD/ contains: CSV/ (raw per-cycle CSV files organized by operation code), Pandas/ (cleaned .pkl DataFrames per cycle), Tasks/ (7 pre-configured AD benchmark tasks with training/healthy/faulty splits), and Python scripts for data processing and task generation.\n\nThe README.md file contains further details.\n\n\nCitation\n\nIf you use the ME-AD dataset in your research, please cite our contribution:\n\n@article{giacomuzzo2026anomaly,\n  title={Anomaly Detection in Industrial Robotics: A Novel Dataset and Benchmark Method},\n  author={Giacomuzzo, Giulio and Dalla Libera, Alberto and Arimizu, Daichi and Hachiya, Yuto and Tsuruta, Shinya and Wakimoto, Koji and Kuriyama, Toshiyuki and Romeres, Diego},\n  journal={},\n  year={2026} }\n\n\nLicense\n\nThe ME-AD dataset is released under CC-BY-SA-4.0 license.\n\nAll data:\n\nCreated by Mitsubishi Electric Research Laboratories (MERL), 2026\n \nSPDX-License-Identifier: CC-BY-SA-4.0","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"<?xml version="1.0" encoding="UTF-8"?>
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      <creatorName nameType="Personal">Giacomuzzo, Giulio</creatorName>
      <givenName>Giulio</givenName>
      <familyName>Giacomuzzo</familyName>
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      <creatorName nameType="Personal">Dalla Libera, Alberto</creatorName>
      <givenName>Alberto</givenName>
      <familyName>Dalla Libera</familyName>
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      <affiliation>University of Padua, Italy</affiliation>
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      <creatorName nameType="Personal">Arimizu, Daichi</creatorName>
      <givenName>Daichi</givenName>
      <familyName>Arimizu</familyName>
      <affiliation>Mitsubishi Electric Corporation, Kamakura, Japan</affiliation>
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      <creatorName nameType="Personal">Hachiya, Yuto</creatorName>
      <givenName>Yuto</givenName>
      <familyName>Hachiya</familyName>
      <affiliation>Mitsubishi Electric Corporation, Kamakura, Japan</affiliation>
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    <creator>
      <creatorName nameType="Personal">Tsuruta, Shinya</creatorName>
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      <familyName>Wakimoto</familyName>
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      <affiliation affiliationIdentifier="https://ror.org/033y26782" affiliationIdentifierScheme="ROR">Mitsubishi Electric (Japan)</affiliation>
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    <creator>
      <creatorName nameType="Personal">Kuriyama, Toshiyuki</creatorName>
      <givenName>Toshiyuki</givenName>
      <familyName>Kuriyama</familyName>
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      <affiliation>Mitsubishi Electric Research Laboratories (United States)</affiliation>
      <affiliation>Amazon Industrial Robotics Group</affiliation>
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  <titles>
    <title>ME-AD: Progressive Robotics Anomaly Detection Dataset</title>
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  <publisher>Zenodo</publisher>
  <publicationYear>2026</publicationYear>
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    <date dateType="Issued">2026-06-23</date>
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  <descriptions>
    <description descriptionType="Abstract">Introduction

The ME-AD (Mitsubishi Electric Anomaly Detection) dataset contains operating data of cyclic pick-and-place executions collected from a 6-DoF Mitsubishi Electric RV-7FM-D1-S15 manipulator under progressive actuation degradation. A defect was intentionally introduced in the actuator of joint 3 (removal of gearbox lubricant), causing gradual mechanical wear over pick-and-place cycles. Unlike existing robotics AD datasets where anomalies are artificially induced, ME-AD documents an actual progressive hardware fault, making it uniquely suited for benchmarking semi-supervised anomaly detection, online/early fault detection, and remaining useful life estimation.

At a Glance



The size of the unzipped dataset is ~10GB. The dataset contains approximately 17,000 pick-and-place cycles organized into 7 operation groups called tasks across 3 motion families. Each cycle includes joint positions, velocities, accelerations, and torques sampled at ~280 Hz.

The dataset provides raw CSV files, cleaned Pandas DataFrames (.pkl), and pre-configured AD task splits. Each data sample contains 6 joint positions (rad), 6 joint velocities (rad/s), 6 joint accelerations (rad/s²), and 6 joint torques (Nm). Processed files include both raw and low-pass filtered signals.

ME-AD/ contains: CSV/ (raw per-cycle CSV files organized by operation code), Pandas/ (cleaned .pkl DataFrames per cycle), Tasks/ (7 pre-configured AD benchmark tasks with training/healthy/faulty splits), and Python scripts for data processing and task generation.

The README.md file contains further details.


Citation

If you use the ME-AD dataset in your research, please cite our contribution:

@article{giacomuzzo2026anomaly,
  title={Anomaly Detection in Industrial Robotics: A Novel Dataset and Benchmark Method},
  author={Giacomuzzo, Giulio and Dalla Libera, Alberto and Arimizu, Daichi and Hachiya, Yuto and Tsuruta, Shinya and Wakimoto, Koji and Kuriyama, Toshiyuki and Romeres, Diego},
  journal={},
  year={2026} }


License

The ME-AD dataset is released under CC-BY-SA-4.0 license.

All data:

Created by Mitsubishi Electric Research Laboratories (MERL), 2026
 
SPDX-License-Identifier: CC-BY-SA-4.0</description>
  </descriptions>
</resource>
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