Grasping skill is a major ability that a wide number of real-life applications require for robotisation. Stateof-the-art robotic grasping methods perform prediction of object grasp locations based on deep neural networks. However, such networks require huge amount of labeled data for training making this approach often impracticable in robotics. In this paper, we propose a method to generate a large scale synthetic dataset with ground truth, which we refer to as the Jacquard grasping dataset. Jacquard is built on a subset of ShapeNet, a large CAD models dataset, and contains both RGB-D images and annotations of successful grasping positions based on grasp attempts performed in a simulated environment. We carried out experiments using an off-the-shelf CNN, with three different evaluation metrics, including real grasping robot trials. The results show that Jacquard enables much better generalization skills than a human labeled dataset thanks to its diversity of objects and grasping positions. For the purpose of reproducible research in robotics, we are releasing along with the Jacquard dataset a web interface for researchers to evaluate the successfulness of their grasping position detections using our dataset.

Research in affective computing requires ground truth data for training and benchmarking computational models for machine-based emotion understanding. In this paper, we propose a large video database, namely LIRIS-ACCEDE, for affective content analysis and related applications, including video indexing, summarization or browsing. In contrast to existing datasets with very few video resources and limited accessibility due to copyright constraints, LIRIS-ACCEDE consists of 9,800 good quality video excerpts with a large content diversity. All excerpts are shared under Creative Commons licenses and can thus be freely distributed without copyright issues. Affective annotations were achieved using crowdsourcing through a pair-wise video comparison protocol, thereby ensuring that annotations are fully consistent, as testified by a high inter-annotator agreement, despite the large diversity of raters' cultural backgrounds. In addition, to enable fair comparison and landmark progresses of future affective computational models, we further provide four experimental protocols and a baseline for prediction of emotions using a large set of both visual and audio features. The dataset (the video clips, annotations, features and protocols) is publicly available at: http://liris-accede.ec-lyon.fr/.