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

<p dir="ltr">Dataset accompanying our HRI 2023 paper:</p><p dir="ltr">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. (<a href="https://dl.acm.org/doi/10.1145/3568162.3576998" target="_blank">ACM</a> copy, <a href="https://arxiv.org/abs/2301.02938#" target="_blank">arXiv</a> copy)</p><p><br></p><p dir="ltr">This record contains two out of three segments of the FACT dataset, namely:</p><h4>FACT-processed:</h4><p dir="ltr">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.</p><h4>FACT-support:</h4><p dir="ltr">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 <a href="https://github.com/tianleimin/fetch-teleop" target="_blank">https://github.com/tianleimin/fetch-teleop</a></p><p><br></p><h4>FACT-raw:</h4><p dir="ltr">Please see <a href="https://doi.org/10.26180/21671789.v1" target="_blank">https://doi.org/10.26180/21671789.v1</a></p><p><br></p><p dir="ltr">Related datasets:</p><ul><li>Extracted csv data from FACT-HRC stage 1 (teleoperated handovers): https://doi.org/10.26180/21671768</li><li>Raw ROS bag data of FACT-HRC stage 1 (teleoperated handovers): https://doi.org/10.26180/21671789</li><li>Extracted csv data files of FACT-HRC stage 2 (auto handovers): https://doi.org/10.26180/25449640</li><li>Raw ROS bag data of FACT-HRC stage 2 (auto handovers): https://doi.org/10.26180/25449652</li><li>Questionnaire and annotation from FACT-HRC stage 3 (online video comparison): https://doi.org/10.26180/28492796</li></ul><p></p>