FACT HRC (FACT-processed and FACT-support): 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)<br>This record contains two out of three segments of the FACT dataset, namely:FACT-processed:Non-identifiable data as csv files, including the robot's status, the controls of the teleoperation framework, the estimates of facial and upper body keypoints from the OAK-D camera feed, and the emotion estimates from both camera feeds, extracted from the synchronised raw data at 0.1s intervals. In addition, the de-identified questionnaire responses are provided.FACT-support:Supporting materials, including the instruction sheet, operator's cheat-sheet for teleoperation framework controls, CAD file for the laser-cutting design of the birdhouse; implementation of the teleoperation framework, data processing, and feature extraction provided as fetch-teleop-main.zip. More up to date implementation can also be found at https://github.com/tianleimin/fetch-teleop<br>FACT-raw:Please see https://doi.org/10.26180/21671789.v1<br>Related datasets:Extracted csv data from FACT-HRC stage 1 (teleoperated handovers): https://doi.org/10.26180/21671768Raw ROS bag data of FACT-HRC stage 1 (teleoperated handovers): https://doi.org/10.26180/21671789Extracted csv data files of FACT-HRC stage 2 (auto handovers): https://doi.org/10.26180/25449640Raw ROS bag data of FACT-HRC stage 2 (auto handovers): https://doi.org/10.26180/25449652Questionnaire and annotation from FACT-HRC stage 3 (online video comparison): https://doi.org/10.26180/28492796

本数据集配套我们发表于2023年ACM/IEEE国际人机交互会议（HRI '23）的论文：Leimin Tian、Kerry He、Shiyu Xu、Akansel Cosgun与Dana Kulić。2023年。《借助机器人助手进行手工创作：利用社交线索实现人机协作中的自适应物品递送》。该论文收录于2023年ACM/IEEE国际人机交互会议论文集，会议于2023年3月13日至16日在瑞典斯德哥尔摩举办，由ACM出版社在美国纽约州纽约市发行，共9页。（含ACM官方版本与arXiv预印本版本）
本数据集包含FACT数据集三个子片段中的两个，具体如下：
1. FACT-processed：经脱敏处理的非识别性数据，以CSV（Comma-Separated Values）文件格式存储，包含机器人状态、遥操作框架（teleoperation framework）的操控指令、从OAK-D相机（OAK-D Camera）采集画面中提取的面部与上半身关键点估计结果，以及双路相机采集画面对应的情绪估计结果——所有数据均从同步原始数据集中以0.1秒的间隔提取得到。此外，本部分还提供了去标识化的问卷反馈数据。
2. FACT-support：配套支撑材料，包括实验操作指南、遥操作框架操控速查表、鸟屋激光切割设计CAD（Computer-Aided Design）文件；遥操作框架实现代码、数据处理脚本与特征提取代码已打包为fetch-teleop-main.zip。最新版实现代码可访问：https://github.com/tianleimin/fetch-teleop
FACT原始数据集请访问：https://doi.org/10.26180/21671789.v1
关联数据集资源如下：
- FACT-HRC阶段1（遥操作式物品递送任务）提取得到的CSV数据：https://doi.org/10.26180/21671768
- FACT-HRC阶段1（遥操作式物品递送任务）的原始ROS包（ROS bag）数据：https://doi.org/10.26180/21671789
- FACT-HRC阶段2（自动式物品递送任务）提取得到的CSV数据文件：https://doi.org/10.26180/25449640
- FACT-HRC阶段2（自动式物品递送任务）的原始ROS包（ROS bag）数据：https://doi.org/10.26180/25449652
- FACT-HRC阶段3（在线视频对比任务）的问卷与标注数据：https://doi.org/10.26180/28492796