| 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. |
| Internet: |
https://doi.org/10.1109/IROS55552.2023.10341459 |
| PDF Version: |
https://www.informatik.uni-bremen.de/agebv/DoF-Adaptiv?action=AttachFile&do=get&target=Goldau2023Dormadl_authorsVersion.pdf |
| Keywords: |
Robot motion;Measurement;Machine learning;Activity recognition;User interfaces;Predictive models;Manipulators |
| Status: |
Reviewed |
| Last updated: |
12. 12. 2024 |
