D2.1 Report on user behavior

V. Charissi, M. Lohse, C. Zaga, V. Evers - University of Twente
This deliverable presents the first results of WP 2 (Robust User Interaction in Crowded Environments). It addresses mainly T2.1 (User Behavior Analysis and Scenario Definition) based on a contextual analysis on children's collaborative play (without robot) and a first user study on children's engagement with a robot. It also includes a first corpus of annotated data from the first user study.

Object relation dataset

S. Krivic - University of Innsbruck
This dataset contains the set of possible object-object spatial relations. Learning object-object relations is a difficult problem with sparse, noisy, corrupted and incomplete information which makes it an interesting and challenging machine learning problem. We formulate this problem as the problem of learning missing edges in a multigraph.

TUW Toy Models Dataset

TU Vienna
This website provides models of various toys learned using a mobile robot with an Asus Xtion Pro Live. Each model consists of a point cloud of the complete object and the set of all training views with their poses relative to the first view and with a segmentation mask per view. The dataset also contains mesh models for some of the objects. The model database consists of 19 objects, where some objects are modelled more than once in different poses (lying on different sides). The database contains rigid (plastic) as well as soft (plush animals) objects.

TUW Object Instance Recognition Dataset

TU Vienna
This website provides annotated RGB-D point clouds of indoor environments. The TUW dataset contains sequences of point clouds in 15 static and 3 partly dynamic environments. Each view of a scene presents multiple objects; some object instances occur multiple times and are highly occluded in certain views. The model database consists of 17 models with a maximum extent of 30 cm, which are partly symmetric and/or lack distinctive surface texture. The dataset consists of the reconstructed 3D object models, the individual key frames of the models, test scenes and the 6DOF pose of each object present in the respective view. Each point cloud is represented by RGB color, depth and normal information. Furthermore, we provide annotation for the Willow and Challenge dataset.



This repository holds packages for hardware launch files and configuration, as well as the simulation model for starting up the basic layer for operating Robotino. It can be reused by any user who operates an own Robotino platform.


Repository for message, service and action interface related SQUIRREL packages. This repository is necessary to operate other SQUIRREL repositories.


This repository includes packages that provide access to the Robotino hardware over ROS messages and services, e.g. for mobile base, arm, camera sensors, scanners, etc.


Bundles the automatic calibration procedures for determining the mounting positions of laser scanner, pan-tilt unit, camera, and arm. This repository can be beneficial to any user who operates a robot with similar components (laser scanners, cameras, arms in general) as the SQUIRREL Robotino.


This repository contains a collection of files, scripts, manuals and other things that can be used to setup the Robotino platform. Furthermore, it contains backups of configuration files.


This repository contains the software concerned with the manipulation tasks of the project, e.g. planning of trajectories, pick and place actions, object manipulation, etc.


Contains the 8-DOF motion planner utilized by the squirrel_manipulation repository.


This is the repository for navigation, localization and mapping related SQUIRREL packages.


This repository contains packages for attention, segmentation, object perception, and tracking.


Contains various human robot interaction modules such as human tracking and gesture recognition, speech understanding, expressive behaviors and engagement detection.


Repository for prediction and learning related packages.


This repository contains the software related to the planning activities.


The ROSPlan framework provides a generic method for task planning in a ROS system. ROSPlan encapsulates both planning and dispatch. It possesses a simple interface, and already includes interfaces to common ROS libraries.


SMTPlan+ is a planner for hybrid systems. It supports all the features of PDDL+, including exogenous events and continuous processes.