## Introduction ## This dataset is a collection of impact sounds generated by a robot horizontally or vertically poking objects from the [YCB dataset][1] collected by the [Humanoids and Cognitive Robotics Lab][2] at [Czech Technical University in Prague][3]. It complements another [dataset][4] where the impact sounds were generated by hand. ## Data Collection ## A Kinova Gen3 robotic arm fitted with a Robotiq 2F-85 gripper was used for collecting impact sounds from robot-object interaction. Two actions were considered - vertical poking and horizontal poking. The actions are considered different because in the vertical poking scenario, the motion of the object is restricted as it is placed on a rigid surface. However in the horizontal scenario it is free to slide across the surface. 49 objects from the YCB object set were explored by the robot, for approximately 50 vertical pokes per object and 5-10 horizontal pokes per object. This dataset is available separately at [Robot_impact_Data][5].  ## Publication ## The dataset accompanies the following article: Dimiccoli, M., Patni, S., Hoffmann, M. and Moreno-Noguer F. Predicting material from impact sounds for robot manipulation. IEEE International Conference on Intelligent Robots and Systems (IROS 2022). ## Acknowledgements ## This work was supported by the project Interactive Perception-Action-Learning for Modelling Objects (IPALM) (H2020 -- FET -- ERA-NET Cofund -- CHIST-ERA III / Technology Agency of the Czech Republic, EPSILON, no. TH05020001). S.P. and M.H. were additionally supported by OP VVV MEYS funded project CZ.02.1.01/0.0/0.0/16_019/0000765 Research Center for Informatics.    [1]: https://www.ycbbenchmarks.com/object-set/ [2]: https://cyber.felk.cvut.cz/research/groups-teams/humanoids/ [3]: https://www.cvut.cz/en [4]: https://osf.io/ut.cz/en [5]: https://osf.io/ut.cz/en [6]: https://osf.io/vha9z