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.

翻译：我们提出了一个力感知、跨视角关节操作数据集，该数据集将真实人类交互过程中的所见、所为与所感进行耦合。该数据集包含38个环境中381个关节物体的3048个操作序列。每个物体均在四种操作实体下进行操作：(i)人手，(ii)配备腕戴式摄像头的人手，(iii)手持式UMI夹爪，以及(iv)定制的Hoi!夹爪——其中工具实体提供同步的末端执行器力信号与触觉感知。我们的数据集为从视频理解交互提供了整体视角，使研究者既能评估方法在人类与机器人视角间的迁移性能，也能探索力传感与预测等尚未充分研究的模态。更多信息请访问项目网站。