A Service Robot in the Wild: Analysis of Users Intentions, Robot Behaviors, and Their Impact on the Interaction

This file contains human-robot interaction data acquired during an  experiment conducted at the University of Applied Sciences and Arts of Southern Switzerland (SUPSI). The campaign focuses on collecting non-identifying data, such as torso trajectories and the internal state of the system, from people in the proximity of a robot. The study spans three days in two different environments at the University Campus Est in Lugano, Switzerland.

The campaign adheres to ethical guidelines and is approved by SUPSI's local ethics committee.

Duration: Total of 5 hours and 7 minutes.

Participants: 1777 individuals tracked.

Environments:

Entrance to the campus canteen (demographically diverse, including students and staff).

Corridor between classrooms (mainly attended by students).

Data Types:

Robot Sensor: Timestamps, user ID, 3D torso pose in Robot Sensor frame, interaction intention detector output.

Environment Sensor: Timestamps, user ID, 3D poses of torso and hands in Environment Sensor frame, 2D torso positions in the sensor’s field of view.

Robot State: Currently selected behavior, state (idle or performing an offering motion).

Key Events:

Pick Motion: User's hand movement within 0.3 meters of the box.

Robot Offer: Robot begins an offering motion.

Successful Offer: Pick Motion within 6 seconds of a Robot Offer.