Hanibel/MOSIV

Overview

MOSIV is a synthetic dataset designed for the task of multi-object system identification from videos, where the goal is to recover both the 4D geometry (time-varying 3D shape) and the physical properties (e.g., stiffness, friction, plasticity) of multiple interacting objects directly from multi-view video observations.

MOSIV features contact-rich, multi-object interactions with diverse materials and complex dynamics. Each sequence contains multiple objects undergoing collisions, deformation, and motion, along with ground-truth physical parameters and simulation data.

The dataset is generated using Genesis simulator and supports tasks such as:

• Dynamic 3D / 4D reconstruction
• Physics-based system identification
• Multi-object interaction modeling
• Future state prediction and simulation

Dataset Structure

The dataset is organized hierarchically based on the number of objects and sequence IDs.

MOSIV/
├── 2objs/
│   ├── 01/
│   │   ├── data/
│   │   ├── masks/
│   │   ├── masks_vis/
│   │   ├── point_clouds/
│   │   ├── videos/
│   │   ├── all_data.json
│   │   ├── metadata.json
│   │   ├── points3d.ply
│   │   ├── transforms_train.json
│   │   ├── transforms_val.json
│   │   └── transforms_test.json
│   ├── 02/
│   └── …
├── 3objs/
│   ├── 012/
│   ├── 013/
│   └── …

Citing MOSIV If you find this dataset useful in your work, please consider citing our paper:

@misc{liu2026mosivmultiobjectidentificationvideos,
      title={MOSIV: Multi-Object System Identification from Videos}, 
      author={Chunjiang Liu and Xiaoyuan Wang and Qingran Lin and Albert Xiao and Haoyu Chen and Shizheng Wen and Hao Zhang and Lu Qi and Ming-Hsuan Yang and Laszlo A. Jeni and Min Xu and Yizhou Zhao},
      year={2026},
      eprint={2603.06022},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2603.06022}, 
}