FACT HRC (FACT-raw): a dataset of Wizard-of-Oz human-robot handovers and collaboration in Functional And Creative Tasks

Dataset accompanying our HRI 2023 paper: Leimin Tian, Kerry He, Shiyu Xu, Akansel Cosgun, and Dana Kulić. 2023. Crafting with a Robot Assistant: Use Social Cues to Inform Adaptive Handovers in Human-Robot Collaboration. In Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction (HRI '23), March 13–16, 2023, Stockholm, Sweden. ACM, New York, NY, USA, 9 pages. (ACM copy, arXiv copy) This record contains one out of three segments of the FACT dataset, namely FACT-raw: Identifiable recordings as ROS bags, including all the synchronised raw data from the two camera feeds, the robot's status, the controls of the teleoperation framework, the estimates of facial and upper body keypoints from the RGB-D camera feed, and the emotion estimates from both camera feeds. (Here is an example script if you want to save raw images or other information from the ROS bags to extract your own features instead of using the upper body keypoints and other extracted data in FACT-processed) Please sign the EULA and send it to [e-mail] for approval if you wish to gain access to FACT-raw. Thank you! FACT-processed and FACT-support: Please see https://doi.org/10.26180/21671768.v1 Related datasets: Extracted csv data from FACT-HRC stage 1 (teleoperated handovers): https://doi.org/10.26180/21671768 Raw ROS bag data of FACT-HRC stage 1 (teleoperated handovers): https://doi.org/10.26180/21671789 Extracted csv data files of FACT-HRC stage 2 (auto handovers): https://doi.org/10.26180/25449640 Raw ROS bag data of FACT-HRC stage 2 (auto handovers): https://doi.org/10.26180/25449652 Questionnaire and annotation from FACT-HRC stage 3 (online video comparison): https://doi.org/10.26180/28492796