Contact Microphone Audio-Visual Dataset

该数据集包含了安装在机器人臂上的接触式麦克风在执行操作任务时捕捉的互动音频记录，以及来自英特尔D435 RealSense相机的相应视觉数据。该数据集突显了基于音频的触觉表示在机器人操作中的有效性，为那些仅凭视觉难以察觉的互动提供了深入见解。该数据集规模包括150个演示（其中40个用于翻转，60个用于舀取，50个用于拉链）。所涉及的任务包括机器人的翻转、舀取和拉链操作。

This dataset contains interactive audio recordings captured by contact microphones mounted on a robotic arm during manipulation tasks, alongside corresponding visual data from an Intel D435 RealSense camera. It highlights the effectiveness of audio-based tactile representations in robotic manipulation, providing in-depth insights into interactions that are imperceptible solely through vision. The dataset includes 150 demonstrations: 40 for flipping, 60 for scooping, and 50 for zipping tasks. The covered tasks involve robotic flipping, scooping, and zipping manipulation.