Hoi!：一个基于力与跨视角铰接操作的多模态数据集
Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation
该数据集提供人类手部与机器人夹爪两种视角下的铰接物体操作视频，并同步记录末端执行器力与触觉信号，可用于研究跨视角动作理解、力感知表征学习以及人-机器人策略迁移。
原文依据 enabling researchers to evaluate how well methods transfer between human and robotic viewpoints, but also investigate underexplored modalities such as interaction forces.
摘要译文
由模型翻译 · 术语统一 · 请对照原文核对关键结论我们提出了一个基于力与跨视角铰接操作的数据集，将真实人类交互过程中所见、所做与所感耦合在一起。该数据集包含38个环境中的381个铰接物体上的3048个序列。每个物体在四种具身形式下被操作——（i）人类手、（ii）带腕部相机的人类手、（iii）手持UMI夹爪、以及（iv）定制的Hoi!夹爪，其中工具具身形式提供末端执行器力和触觉传感。我们的数据集提供了从视频理解交互的整体视角，使研究人员能够评估方法在人类与机器人视角之间的迁移效果，并研究交互力等尚未充分探索的模态。项目网站见 https://hoi-dataset.ethz.ch。
英文原文摘要 810 字符
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset contains 3048 sequences across 381 articulated objects in 38 environments. Each object is operated in four embodiments - (i) human hand, (ii) human hand with a wrist-mounted camera, (iii) handheld UMI gripper, and (iv) a custom Hoi! gripper, where the tool embodiment provides end-effector forces and tactile sensing. Our dataset offers a holistic view of interaction understanding from video, enabling researchers to evaluate how well methods transfer between human and robotic viewpoints, but also investigate underexplored modalities such as interaction forces. The Project Website can be found at https://hoi-dataset.ethz.ch.