嗨！- 一个用于力导向、跨视角人工 manipulation 的多模态数据集
Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation
AI总结：
本文提出一个结合视觉、动作和触觉的多模态数据集，包含381个人工物体在38种环境中的3048个序列，用于评估方法在人机视角间的迁移能力及探索交互力等未被研究的模态。
摘要：
我们提出一个力导向、跨视角人工 manipulation 的数据集，将所见、所做和所感联系起来，涵盖381个人工物体在38种环境中的3048个序列。每个物体以四种方式操作：(i) 人类手，(ii) 人类手配带腕部摄像头，(iii) 手持UMI夹具，(iv) 自定义Hoi!夹具，其中工具的末端执行器提供力和触觉传感。该数据集提供了从视频中全面理解交互的视角，使研究人员能够评估方法在人与机器人视角之间的迁移能力，同时探索诸如交互力等未被研究的模态。项目网站可访问https://timengelbracht.github.io/Hoi-Dataset-Website/。
英文摘要：
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://timengelbracht.github.io/Hoi-Dataset-Website/.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
