Grounding semantic categories in behavioral interactions:
Experiments with 100 objects
Experiments with 100 objects
Download Dataset
In this dataset an uppertorso humanoid robot with 7-DOF arm explored 100 different objects belonging to 20 different categories using 9 behaviors: Crush, Grasp, Hold, Lift, Drop, Poke, Push, Shake and Tap.4 Sensors
9 Exploratory Behaviors
Dataset Visualization
Vision
Audio
Haptic
20 Object Categories
| Category # | Object Category Name | Objects Name |
|---|---|---|
| 1 |
wicker baskets [basket] |
basket_green basket_cylinder basket_handle basket_semicircle basket_funnel |
| 2 |
containers that vary by weight [weight] |
weight_1 weight_2 weight_3 weight_4 weight_5 |
| 3 |
small stuffed animals [smallstuffedanimal] |
smallstuffedanimal_bunny smallstuffedanimal_chick smallstuffedanimal_moose smallstuffedanimal_otter smallstuffedanimal_headband_bear |
| 4 |
large stuffed animals [bigstuffedanimal] |
bigstuffedanimal_tan_dog bigstuffedanimal_bunny bigstuffedanimal_frog bigstuffedanimal_pink_dog bigstuffedanimal_bear |
| 5 |
metal objects [metal] |
metal_tea_jar metal_mix_covered_cup metal_food_can metal_thermos metal_flower_cylinder |
| 6 |
wooden blocks [timber] |
timber_square timber_pentagon timber_semicircle timber_rectangle timber_squiggle |
| 7 |
pasta boxes [pasta] |
pasta_macaroni pasta_pipette pasta_cremette pasta_penne pasta_rotini |
| 8 |
tin boxes (empty) [tin] |
tin_snowman tin_poker tin_pokemon tin_snack_depot tin_tea |
| 9 |
PVC pipes [pvc] |
pvc_1 pvc_2 pvc_3 pvc_4 pvc_5 |
| 10 |
cups (vary by material) [cup] |
cup_paper_green cup_blue cup_metal cup_isu cup_yellow |
| 11 |
pop cans [can] |
can_red_bull_small can_arizona can_red_bull_large can_coke can_starbucks |
| 12 |
plastic bottles [bottle] |
bottle_google bottle_sobe bottle_red bottle_fuse bottle_green |
| 13 |
food cans [cannedfood] |
cannedfood_tomato_paste cannedfood_tomatoes cannedfood_cowboy_cookout cannedfood_soup cannedfood_chili |
| 14 |
medicine pill bottles [medicine] |
medicine_bilberry_extract medicine_flaxseed_oil medicine_calcium medicine_aspirin medicine_ampicillin |
| 15 |
containers with different types of contents [tupperware] |
tupperware_ground_coffee tupperware_rice tupperware_pasta tupperware_coffee_beans tupperware_marbles |
| 16 |
styrofoam cones [cone] |
cone_1 cone_2 cone_3 cone_4 cone_5 |
| 17 |
foam noodles [noodle] |
noodle_1 noodle_2 noodle_3 noodle_4 noodle_5 |
| 18 |
egg-coloring cups (vary only by color) [eggcoloringcup] |
eggcoloringcup_pink eggcoloringcup_blue eggcoloringcup_yellow eggcoloringcup_orange eggcoloringcup_green |
| 19 |
easter eggs (vary by material) [egg] |
egg_cardboard egg_smooth_styrofoam egg_wood egg_plastic_wrap egg_rough_styrofoam |
| 20 |
balls [ball] |
ball_blue ball_basket ball_base ball_transparent ball_yellow_purple |