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We introduce the publicly available TUM Kitchen Data Set as a comprehensive collection of activity sequences recorded in a kitchen environment equipped with multiple complementary sensors. The recorded data consists of observations of naturally performed manipulation tasks as encountered in everyday activities of human life. Several instances of a table-setting task were performed by different subjects, involving the manipulation of objects and the environment. We provide the original videodoi:10.1109/iccvw.2009.5457583 dblp:conf/iccvw/TenorthBB09 fatcat:kxn3rpg6prda7czs5uv6afkyki