Hoi!-A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation

10.60507/FK2/QODWTVEngelbracht, TimTimEngelbracht0009-0009-4853-5526ETH ZürichZurbrügg, RenéRenéZurbrügg0000-0003-2773-9369ETH ZürichWohlrapp, MatteoMatteoWohlrappETH ZürichBüchner, MartinMartinBüchner0000-0001-8725-1213University of FreiburgValada, AbhinavAbhinavValada0000-0003-4710-3114University of FreiburgPollefeys, MarcMarcPollefeys0000-0003-2448-2318ETH ZürichBlum, HermannHermannBlum0000-0002-1713-7877University of Bonn & Lamarr InstituteBauer, ZuriaZuriaBauer0000-0001-8447-2344ETH ZürichHoi!-A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulationbonndata2026Computer and Information ScienceEngineeringEngelbracht, TimTimEngelbrachtETH ZürichBlum, HermannHermannBlumUniversity of Bonn & Lamarr InstituteBauer, ZuriaZuriaBauerETH Zürich2026-03-202026-05-262512.0488411277184186186185186185185423184185187185185186184186185185185185185186184185185187423186185186185186186185185185184185185184186185186185185185185187183183185185185185184185184186185184185185421183184186184186186184423186185186185185183186185184185185183185185185185185186185186186185185185185183186184186184186186183185422186186187185185186185186186184423184183185185185184186425185184187185185186184186185186185185183186185185186185186423185186185184185423421187422185185186185185185185186185186184185185186185186185184186184185186186183185184185185184184184184185185185185185185183185183184186184186185186187184183183185184184184185185185186423186185183185185185184185186186183186183186423185186423185185185185186184423423185185184186423186185185185185185186185423421185185185184183184186185186185183184183183184185185185186185185184425184185186186184183185185185185186183185183187186185185185186186185184185184187185185187186184183183183185184185183185186185184185185183185186184186185184185184421186185185187186185183186183184183185184185186186185185183185185185186184185185183185186187185185187185185187184185185185183185184185423185185185183187187185425185186183186184186185185185185213563840791237650237567758616294426641513205723715115092516879511681585097401978698314834838653833778371912750168157224341220543569249034936225129323270061380392256461076843349814739521482010425659675351901623512954958267261566822129558832420376138726463232350541841762317968540991301577966150432705433096053408243807726659986647813138121945173788461107672135639749226641549837536339528818237567840791166399452788237151237650629445315358499088675861132057150925273745174655442378597273645203365143241245862302716294911159410325349715105497136471231010348871955330006202910581141185319775328648148838257931851754805111554337738015937856449147721726367285917377912636233481135711891180134216788651423662605234134052304024259568208682288453901159671871719553695647167242407855988174074147997556434670846857168647166198507666862615837933032420336142868645534510343868336236850363704833212481042447675610186714944776203102668333897693398437287688219791877602613103514733722767213562143132118387129880349284348491524377608653387129824441291203581693065194823060151795356571152918526142116136070848324457617687854791123069838801891595962227468599365683118612998895153771728465645311689643317750551138378699183784379654169701893683547781427561307386604636878828431543730780856987108327630725447029260147070563619344044662937161673336080340526052528614257011106892253181269139822947847197221628571023701365823833616431784051105163175381610921793916280825603108517165750181838168292102431154741112196991770582513351439911179735707819135103539211509287191646991250977832337955878876099811078336124203528910182270366467123420148444548671469501102511361048512715895248357183799383356231158311365392973961845241380081005843631193182819525012498221596111803415456497710313584961380131262021303782705414503616161974634148912970620227107945795921053619730940033135385134597265505476737531554741213102622931145951709456366990852993658252521046789474695988510424532543144530514271213161667263513834407328911526528506328013211244311231399148486290723327012886063515329615254794636928793170135493306768365789631067232255859322623932418241142147033193535449143976759663795357724102320481938189870579877175075628347507567507615116875028347617562928756756761511685116875075675076175675476175475675476151168761756750754756756292828347567567617617507542928283475676175675676128347507564973875429287547567617547507617615116876151168761761750283476175629282834756761756761754750756756756754750754511687567617567567545116828347615116876175675475075476175651168750754754754750756761292876149738750511687547567562928756511687547567507567612834754756761761511687567507567617505116875476128345116875651168756497387567547617567507567507547567567567567507565116876175075675451168756756761511687507617567562834754761750756761292875675628345116876151168283475628347567617507567617612834750756756756342438169102860330101456482852814552420674491076672771900998960353230436504556241597130194570653639422530859926235315017500356715928566148711485572810628904880441572317291710513277289315115567811666215510585062892563538269781212736343695460103005264958707573391634242360298041789561724559036927712674366181446570149517914485514510214174012469200638116872924826216395051121617541348638176134691684915594363680642041176398918213884715313015232243496025213041058082030836953243542588418422404824633248344536135072184531826306510448206961479807353823264599294071310215322511104378325130554110772221693175251067946312141413120432448173918667893133406205808643633795896032938718462506877354403164744328816045944051820239901710692997026745510596393160754829280741554311612913206166407149704068271719469111153540420365462960204798833666788839068178110757175710206532491699685769999268518038111176631252273881713279696039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BY 4.0We 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.version 0.1ETH Career SeedRobotics Insitute Germany