Virtual Annotated Cooking Environment Dataset

This dataset was recorded in the Virtual Annotated Cooking Environment (VACE), a new open-source virtual reality dataset (https://sites.google.com/view/vacedataset) and simulator (https://github.com/michaelkoller/vacesimulator) for object interaction tasks in a rich kitchen environment.  We use the Unity-based VR simulator to create thoroughly annotated video sequences of a virtual human avatar performing food preparation activities. Based on the MPII Cooking 2 dataset, it enables the recreation of recipes for meals such as sandwiches, pizzas, fruit salads and smaller activity sequences such as cutting vegetables. For complex recipes, multiple samples are present, following different orderings of valid partially ordered plans. The dataset includes an RGB and depth camera view, bounding boxes, object masks segmentation, human joint poses and object poses, as well as ground truth interaction data in the form of temporally labeled semantic predicates (holding, on, in, colliding, moving, cutting). In our effort to make the simulator accessible as an open-source tool, researchers are able to expand the setting and annotation to create additional data samples.
The research leading to these results has received funding from the Austrian Science Fund (FWF) under grant agreement No. I3969-N30 InDex and the project Doctorate College TrustRobots by TU Wien. Thanks go out to Simon Schreiberhuber for sharing his Unity expertise and to the colleagues at the TU Wien Center for Research Data Management for data hosting and support.