General-purpose clothes-folding robots do not yet exist owing to the deformable nature of textiles, making it hard to engineer manipulation pipelines or learn this task. In order to accelerate research for the learning of the robotic clothes-folding task, we introduce a video dataset of human folding demonstrations. In total, we provide 8.5 hours of demonstrations from multiple perspectives leading to 1,000 folding samples of different types of textiles. The demonstrations are recorded in multiple public places, in different conditions with a diverse set of people. Our dataset consists of anonymized RGB images, depth frames, skeleton keypoint trajectories, and object labels. In this article, we describe our recording setup, the data format, and utility scripts, which can be accessed at https://adverley.github.io/folding-demonstrations.

中文翻译：

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用于机器人折叠的折叠服装人类演示视频数据集

由于纺织品的可变形性，通用的衣服折叠机器人尚不存在，这使得设计操纵管道或学习这项任务变得困难。为了加速机器人折叠衣服任务的学习研究，我们引入了人体折叠演示的视频数据集。我们总共提供了 8.5 小时的多角度演示，展示了 1,000 个不同类型纺织品的折叠样品。示威活动被记录在多个公共场所，在不同的条件下，有不同的人群。我们的数据集由匿名 RGB 图像、深度帧、骨架关键点轨迹和对象标签组成。在本文中，我们描述了我们的记录设置、数据格式和实用程序脚本，可以在 https://adverley.github.io/folding-demonstrations 上访问这些脚本。