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Part 1: Document Description
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Citation |
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Title: |
Hoi!-A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation |
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Identification Number: |
doi:10.60507/FK2/QODWTV |
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Distributor: |
bonndata |
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Date of Distribution: |
2026-05-26 |
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Version: |
1 |
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Bibliographic Citation: |
Engelbracht, Tim; Zurbrügg, René; Wohlrapp, Matteo; Büchner, Martin; Valada, Abhinav; Pollefeys, Marc; Blum, Hermann; Bauer, Zuria, 2026, "Hoi!-A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation", https://doi.org/10.60507/FK2/QODWTV, bonndata, V1 |
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Citation |
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Title: |
Hoi!-A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation |
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Identification Number: |
doi:10.60507/FK2/QODWTV |
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Authoring Entity: |
Engelbracht, Tim (ETH Zürich) |
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Zurbrügg, René (ETH Zürich) |
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Wohlrapp, Matteo (ETH Zürich) |
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Büchner, Martin (University of Freiburg) |
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Valada, Abhinav (University of Freiburg) |
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Pollefeys, Marc (ETH Zürich) |
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Blum, Hermann (University of Bonn & Lamarr Institute) |
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Bauer, Zuria (ETH Zürich) |
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Distributor: |
bonndata |
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Access Authority: |
Engelbracht, Tim |
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Access Authority: |
Blum, Hermann |
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Access Authority: |
Bauer, Zuria |
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Depositor: |
Blum, Hermann |
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Date of Deposit: |
2026-03-20 |
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Holdings Information: |
https://doi.org/10.60507/FK2/QODWTV |
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Study Scope |
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Keywords: |
Computer and Information Science, Engineering |
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Abstract: |
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 under 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 synchronized 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 force sensing and prediction. Further information can be found on the Website. |
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Notes: |
version 0.1 |
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Methodology and Processing |
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Sources Statement |
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Data Access |
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<a href="http://creativecommons.org/licenses/by/4.0">CC BY 4.0</a> |
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Other Study Description Materials |
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Related Publications |
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Citation |
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Title: |
Engelbracht, T., Zurbrügg, R., Wohlrapp, M., Büchner, M., Valada, A., Pollefeys, M., ... & Bauer, Z. (2025). Hoi!--A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation. CVPR 2026 |
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Bibliographic Citation: |
Engelbracht, T., Zurbrügg, R., Wohlrapp, M., Büchner, M., Valada, A., Pollefeys, M., ... & Bauer, Z. (2025). Hoi!--A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation. CVPR 2026 |
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Citation |
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Title: |
Engelbracht, T., Zurbrügg, R., Wohlrapp, M., Büchner, M., Valada, A., Pollefeys, M., ... & Bauer, Z. (2025). Hoi!--A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation. CVPR 2026 |
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Identification Number: |
2512.04884 |
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Bibliographic Citation: |
Engelbracht, T., Zurbrügg, R., Wohlrapp, M., Büchner, M., Valada, A., Pollefeys, M., ... & Bauer, Z. (2025). Hoi!--A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation. CVPR 2026 |
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