Daily Life Activities Dataset

Experiment design

The Daily Life Activities (DLA) dataset consists of trials of daily life object manipulation tasks performed by a human. The dataset consists of ten tasks: cutting, painting, pouring with cup, putting cup away, quarter turn, scooping and pouring, scooping food, shaking, sinusoidal motion, and table wiping. In this dataset, a high variation in the context was purposefully introduced. That is, the tasks were performed with respect to three different viewpoints (V1, V2, V3) and with four different execution styles (normal, with  larger spatial scale, with different velocity profile, and with longer time duration). This resulted in a total of (3x4=12) twelve different contexts in which the tasks were performed. Each task was performed ten times in every context, resulting in a total of (10x3x4x10=1200) trials.

Experimental setup

The trials were recorded using a Krypton K600 camera from NIKON Metrology by tracking up to nine LED markers attached to the manipulated object. The 3D position of each LED marker was recorded with a sampling rate of 50 Hz and expected accuracy of 0.4mm with respect to the measurement frame of the camera system.

Data format

Every trial_xxx.mat file is a Matlab structure array. The trailing number xxx refers to the order in which the trials were performed. For every task:

 trial_001.mat up to trial_040.mat were recorded in sensor viewpoint 1.

trial_001.mat up to trial_010.mat were executed with execution style: normal.

trial_011.mat up to trial_020.mat were executed with execution style: longer time duration.

trial_021.mat up to trial_030.mat were executed with execution style: larger spatial scale.

trial_031.mat up to trial_040.mat were executed with execution style: different velocity profile.

 trial_041.mat up to trial_080.mat were recorded in sensor viewpoint 2. 

trial_041.mat up to trial_050.mat were executed with execution style: normal.

trial_051.mat up to trial_060.mat were executed with execution style: longer time duration.

trial_061.mat up to trial_070.mat were executed with execution style: larger spatial scale.

trial_071.mat up to trial_080.mat were executed with execution style: different velocity profile.

 trial_081.mat up to trial_120.mat were recorded in sensor viewpoint 3. 

trial_081.mat up to trial_090.mat were executed with execution style: normal.

trial_091.mat up to trial_100.mat were executed with execution style: longer time duration.

trial_101.mat up to trial_110.mat were executed with execution style: larger spatial scale.

trial_111.mat up to trial_120.mat were executed with execution style: different velocity profile.

The structure array trial_xxx.mat has the following fields:

'number_of_timesamples': the total number of timesamples (N) for the recorded task,

'K6C_12250_3_x': a 4xN matrix containing the 3D position coordinates of the LED marker expressed in millimeters. The trailing number x in 'K6C_12250_3_x' refers to the LED number, which can range from 1 to 9.

In case the LED marker was visible, the first, second and third row contain the x-, y-, and z-coordinates of the marker, respectively. The fourth row contains the zero value in this case.

In case the LED marker was not visible, the first, second and third row contain zero values.  The fourth row contains a non-zero value in this case.