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)

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

FACT-raw:

Please see https://doi.org/10.26180/21671789.v1