UE-HRI: a new dataset for the study of user engagement in spontaneous human-robot interactions

Abstract

In this paper, we present a new dataset of spontaneous interactions between a robot and humans, of which 54 interactions (between 4 and 15-minute duration each) are freely available for download and use. Participants were recorded while holding spontaneous conversations with the robot Pepper. The conversations started automatically when the robot detected the presence of a participant and kept the recording if he/she accepted the agreement (i.e. to be recorded). Pepper was in a public space where the participants were free to start and end the interaction when they wished. The dataset provides rich streams of data that could be used by research and development groups in a variety of areas.