This repository contains data accompanying the publication "Auditory localization and subjective assessment of autonomous cleaning robot sounds: A VR experiment on speed, operating mode and alerting signals", submitted for review to the Acta Acustica. The dataset contains: Audio and video material Stimuli consisting of robot recordings under all evaluated conditions (0.3 m/s and 0.8 m/s speed, with and without cleaning, with and without noise AVAS or multi-tone AVAS, both with and without added amplitude modulation). All sounds were exported as 32-bit float wav files; i.e., reading the files into Matlab with audioread results in calibrated Pa values. The files uploaded here were used as source signals in the auralization, assuming a distance of 1 m. The final binaural stimuli were rendered by TASCAR and include an attenuation corresponding to the simulated 7 m distance. 30cms_cleaning_noAVAS.wav 30cms_noCleaning_multiTone.wav 30cms_noCleaning_multiToneAM.wav 30cms_noCleaning_noAVAS.wav 30cms_noCleaning_noise.wav 30cms_noCleaning_noiseAM.wav 80cms_cleaning_noAVAS.wav 80cms_noCleaning_multiTone.wav 80cms_noCleaning_multiToneAM.wav 80cms_noCleaning_noAVAS.wav 80cms_noCleaning_noise.wav 80cms_noCleaning_noiseAM.wav ambienceNoise.wav Excerpt of background noise played back during the experiment. localizationTaskDemo.mp4 Participant POV recording of localization task. This recording was done with a fixed head position, in the actual experiment participants were turning their heads freely. Experiment results and analysis localizationData.csv Table containing the mean and standard deviation of absolute localization error, aggregated for each participant and stimulus. subjectiveData.csv Table containing mean and z-scored annoyance, arousal, trust, and valence ratings for each participant and stimulus. stimuliAnalysis.csv Table containing results of level, loudness, sharpness, roughness, tonality, fluctuation strength, and impulsiveness analysis for all stimuli.