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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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