NatSGD: A Dataset with Speech, Gestures, and Demonstrations for Robot Learning in Natural Human-Robot Interaction

arXiv:2403.02274v1 Announce Type: cross
Abstract: Recent advancements in multimodal Human-Robot Interaction (HRI) datasets have highlighted the fusion of speech and gesture, expanding robots' capabilities to absorb explicit and implicit HRI insights. However, existing speech-gesture HRI datasets often focus on elementary tasks, like object pointing and pushing, revealing limitations in scaling to intricate domains and prioritizing human command data over robot behavior records. To bridge these gaps, we introduce NatSGD, a multimodal HRI dataset encompassing human commands through speech and gestures …

arxiv cs.lg cs.ro dataset gestures human natural robot speech type