Hoi!–A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation
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.
- Published in:
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) - Type:
Inproceedings - Authors:
- Year:
2026 - Source:
https://arxiv.org/abs/2512.04884
Citation information
: Hoi!–A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation, Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2026, June, https://arxiv.org/abs/2512.04884, Engelbracht.etal.2026a,
@Inproceedings{Engelbracht.etal.2026a,
author={Engelbracht, Tim; Zurbrügg, René; Wohlrapp, Matteo; Büchner, Martin; Valada, Abhinav; Pollefeys, Marc; Blum, Hermann; Bauer, Zuria},
title={Hoi!–A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
month={June},
url={https://arxiv.org/abs/2512.04884},
year={2026},
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,...}}
