People Approaching Robots Database (PAR-D)

PAR-D is a database containing two datasets about people approaching robots in public spaces:

You can learn more about the Shutter Interaction Dataset here and in the Shutter Interaction Dataset README contained in Shutter_Interaction_Dataset/README_shutter.md.

If you would like to reproduce the results from the paper using PAR-D, you can find the code for the paper here.

PAR-D was introduced in the paper Predicting Human Intent to Interact with a Public Robot: The People Approaching Robots Database (PAR-D). Please cite this paper if you use elements of PAR-D:

Thompson, Sydney, Alexander Lew, Yifan Li, Elizabeth Stanish, Alex Huang, Rohan Phanse, and Marynel Vázquez. "Predicting Human Intent to Interact with a Public Robot: The People Approaching Robots Database (PAR-D)." In Proceedings of the 26th International Conference on Multimodal Interaction, pp. 536-545. 2024.

Contributing to PAR-D

If you have data that you think would compliment PAR-D well, please contact Sydney Thompson at <firstname>.<lastname>@yale.edu so we can chat!

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Shutter Interaction Dataset
Shutter Interaction Dataset
Aug 24, 2026
Thompson, Sydney; Alexander Lew; Rohan Phanse; Alex Huang; Elizabeth Stanish; Yifan Li; Marynel Vázquez, 2025, "Shutter Interaction Dataset", https://doi.org/10.60600/YU/KFFQPF, Yale Dataverse, V2
Shutter Interaction Dataset The Shutter Interaction Dataset is a dataset that was originally developed for predicting human intent to interact with a robot in public, but could be used for a variety of applications. The data is a rich observation space that primarily contains human and robot pose . The Shutter Interaction Dataset currently consists...
Augmented ATC Trajectory Dataset
Jan 8, 2025
Thompson, Sydney; Sasha Lew; Rohan Phanse; Elizabeth Stanish; Yifan Li; Marynel Vázquez, 2025, "Augmented ATC Trajectory Dataset", https://doi.org/10.60600/YU/9XKX8O, Yale Dataverse, V1
Augmented ATC Trajectory Dataset The Augmented ATC Trajectory Dataset consists of additional labels for who interacts with a robot made on top of the ATC Trajectory Dataset. If you use these labels in conjunction with the ATC Trajectory Dataset, please cite both the paper introducing the augmentation and the following reference for the original dat...
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