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End of preview. Expand
in Data Studio
WILD-Mani: A Real-World Bimanual Manipulation Dataset – Kitchen Edition
The first installment of the WILD-Mani series.
- High-fidelity bimanual demonstrations collected in real-world kitchen environments using Mixed Reality (MR).
- Designed to support Sim2Real transfer for bimanual manipulation tasks.
- Current Domain: Kitchen
Dataset Description
This dataset contains human demonstrations of kitchen manipulation tasks captured using a Mixed Reality headset in real-world kitchen environments. The data tracks both hands simultaneously with 6-DOF pose tracking, enabling bimanual robot imitation learning research.
Key Features
- Real-world environments: Demonstrations captured in actual kitchens (not simulation)
- Mixed Reality capture: High-fidelity hand tracking in physical spaces
- Bimanual manipulation: Both hands tracked simultaneously
- Multi-camera views: 3 camera perspectives per demonstration
- Diverse tasks: Multiple kitchen manipulation tasks with varying complexity
Dataset Statistics
| Property | Value |
|---|---|
| Episodes | 86 |
| Total Frames | 48,341 |
| FPS | 30 |
| Cameras | 3 |
| Environment | Real kitchen with lighting variations |
Task Categories
| Category | Task | Objects | Actions | Demos |
|---|---|---|---|---|
| Meal Prep | Get item from fridge | Bottle, container | Open, pick, close, place | 24 |
| Dish Organizing | Place cups on shelf | Cups (2-3) | Pick, place | 21 |
| Dish Organizing | Put utensils in drawer | Fork, spoon, knife | Pick, open, place, close | 20 |
| Meal Prep | Set table (plate + utensil) | Plate, fork, knife | Pick, place | 21 |
Diversity Dimensions
| Dimension | Coverage | Details |
|---|---|---|
| Actions | 4+ types | Pick, place, open, close |
| Objects | 15+ objects | Kitchen items varying in size, shape, material |
| Environment | 1 kitchen | Natural light, artificial light, dim lighting |
| Surfaces | 3 surfaces | Counter, dining table, shelf |
| Task Complexity | Single + Multi-step | Pick-place (single) → Fridge sequence (multi-step) |
| Clutter | Natural | Objects on counter, objects in fridge |
Data Format
This dataset follows the LeRobot v3.0 format.
Action Space (14D)
The action space represents delta poses for both hands:
| Dimensions | Description |
|---|---|
| 0-2 | Left hand position delta (x, y, z) |
| 3-6 | Left hand rotation delta (quaternion x, y, z, w) |
| 7-9 | Right hand position delta (x, y, z) |
| 10-13 | Right hand rotation delta (quaternion x, y, z, w) |
Observation Space
| Key | Shape | Description |
|---|---|---|
state |
(14,) | Combined left/right wrist poses |
left_state |
(7,) | Left wrist pose (position + quaternion) |
right_state |
(7,) | Right wrist pose (position + quaternion) |
right_joint_poses |
(78,) | Right hand full skeleton (26 joints × 3D position) |
left_joint_poses |
(78,) | Left hand full skeleton (26 joints × 3D position) |
observation.images.camera_0 |
(H, W, 3) | Primary camera view |
observation.images.camera_1 |
(H, W, 3) | Secondary camera view |
observation.images.camera_2 |
(H, W, 3) | Tertiary camera view |
Joint Order (26 joints per hand)
palm, wrist, thumb_metacarpal, thumb_proximal, thumb_distal, thumb_tip, index_metacarpal, index_proximal, index_intermediate, index_distal, index_tip, middle_metacarpal, middle_proximal, middle_intermediate, middle_distal, middle_tip, ring_metacarpal, ring_proximal, ring_intermediate, ring_distal, ring_tip, little_metacarpal, little_proximal, little_intermediate, little_distal, little_tip
Recording Setup
- Headset: Meta Quest 3 (Mixed Reality)
- Environment: Real-world kitchen
- Tracking: Full skeletal hand tracking (26 joints per hand) via Quest 3 hand tracking
- Cameras: 3 external webcams capturing multiple viewpoints
- Software: Unity-based recording system
File Structure
.
├── data/
│ └── chunk_0000.parquet
├── meta/
│ ├── info.json
│ ├── stats.json
│ └── episode_index.parquet
├── videos/
│ ├── observation.images.camera_0/
│ ├── observation.images.camera_1/
│ └── observation.images.camera_2/
└── README.md
License
This dataset is released under the Apache 2.0 License.
Citation
If you use this dataset in your research, please cite:
@misc{kitchen_mr_manipulation,
title={Kitchen Mixed Reality Manipulation Dataset},
author={OOJU},
year={2026},
publisher={Hugging Face},
howpublished={\url{https://huggingface.co/datasets/ooju/kitchen-vr-manipulation}}
}
Acknowledgments
Dataset collected using Mixed Reality hand tracking in real-world kitchen environments. Recording system built with Unity and Meta Quest.
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