Publication type: |
Article in Proceedings |
Author: |
Felix Goldau, Yashaswini Shivashankar, Annalies Baumeister, Lennart Drescher, Patrizia Tolle, Udo Frese |
Title: |
DORMADL - Dataset of Human-Operated Robot Arm Motion in Activities of Daily Living |
Book / Collection title: |
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Page(s): |
11396 – 11403 |
Year published: |
2023 |
Publisher: |
IEEE Computer Society |
Abstract: |
his work presents a dataset of human-operated robot motion to be used within the context of assistive robotics and assorted fields, such as learning from demonstrations, machine-learning based robot control, and activity recognition. The data consists of individual sequences of intentional robot motion performing a task in an environment of daily living. There are 2973 sequences generated in a high-resolution simulation and 986 sequences performed in reality, totaling to 1.16 M datapoints. The data includes labels for the robot's pose, motion and activity. This paper also provides data augmentation methods and a detailed dataset analysis as well as simple models trained on the dataset as a baseline for future research. The dataset can be downloaded free-of-charge at https://www.kaggle.com/f371xx/dormadl. |
PDF Version: |
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10341459 |
Keywords: |
Robot motion;Measurement;Machine learning;Activity recognition;User interfaces;Predictive models;Manipulators |
Status: |
Reviewed |
Last updated: |
29. 01. 2024 |
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