Extra Data
Humanoid robots should study to steadiness, transfer, and work together with objects throughout an unlimited vary of conditions, however the information accessible for this coaching has clear limits. Web video reveals various habits however can’t seize exact bodily states. Laboratory movement seize programs report correct motion however normally cowl solely a slim set of actions. This white paper examines HiPHI, a 617.5-hour whole-body human movement dataset captured with optical movement seize at sub-millimeter accuracy. It contains 245.7 hours of human-object interplay with synchronized object trajectories and meshes, and organizes protection utilizing FrameNet, a linguistic framework for human motion. The paper additionally introduces a benchmark suite for measuring movement range and interplay grounding, and studies outcomes from insurance policies educated on the dataset and deployed on a bodily Unitree G1 humanoid robotic.
