A Dataset of Daily Interactive Manipulation
This dataset facilitates research on task-oriented interactive manipulation for robotics, but it is incremental as it focuses on data collection rather than new methods.
The authors tackled the problem of robots struggling with daily interactive manipulation in changing environments by collecting a dataset of human demonstrations, resulting in a dataset with 1,593 trials of 32 daily motions and 1,596 pouring trials, along with helper code.
Robots that succeed in factories stumble to complete the simplest daily task humans take for granted, for the change of environment makes the task exceedingly difficult. Aiming to teach robot perform daily interactive manipulation in a changing environment using human demonstrations, we collected our own data of interactive manipulation. The dataset focuses on position, orientation, force, and torque of objects manipulated in daily tasks. The dataset includes 1,593 trials of 32 types of daily motions and 1,596 trials of pouring alone, as well as helper code. We present our dataset to facilitate the research on task-oriented interactive manipulation.