The Dataset

MIME:

• Largest and most diverse ever demonstrations dataset
• 8260 human - robot demonstrations
• 20 Tasks

The Directory of Tasks:

1. Pour

2. Stir

3. Pass

4. Stack

5. Place objects in box

6. Open Bottles

7. Push

8. Rotate

9. Wipe

10. Press Buttons

11. Close Book

12. Picking (single hand)

13. Picking (both hands)

14. Poke

15. Pull (two hands)

16. Push (two hands)

17. Toy Car Trajectories

18. Roll

19. Drop Objects

20. Pull (Single hand)

Every datapoint in the dataset contains:

• Human demonstration (HD)
  • Head mounted kinect (RGBD)
• Robot demonstration (RD)
  • Overhead mounted Kinect (RGBD)
  • 2 Soft kinetic sensors mounted on cuffs (RGBD)
  • Joint angle data from Baxter