lightcone022026cc-by-4.0gated
OmniContact Dataset: Contact-Rich Humanoid Object Interaction
A dataset of human-object interaction motion capture data and processed G1 humanoid trajectories for contact-rich box manipulation and soccer-style interactions. It provides motion capture source data, retargeted trajectories, object poses, and contact labels for learning contact-rich manipulation.
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Technical Profile
- Modalities
- proprioceptionmotion_capture
- Robot Embodiments
- G1 humanoid
- Environment
- lab
- Task Types
- manipulationcontact_rich_manipulationcarry_boxpush_boxslide_boxkick_ballcarry_ballpunt_box
- Data Format
- NPZ
- License
- cc-by-4.0
Community Signals
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