---
license: other
license_name: multiple-licenses
license_link: LICENSE
viewer: false
---

# EgoForce Evaluation Data

This repository contains the evaluation data used for **EgoForce: Forearm-Guided Camera-Space 3D Hand Pose from a Monocular Egocentric Camera**.

It includes official evaluation datasets together with EgoForce-specific processed artifacts:

- forearm parameters
- hand visibility and occlusion metadata
- filtered hand-present indices
- EgoForce HOT3D validation split

The datasets currently present in this repository are:

- `ARCTIC`
- `H2O`
- `HOT3D`

## Notice

This repository does **not** grant a new standalone license over the included data.

- The underlying datasets remain subject to their **official upstream licenses and terms of use**.
- EgoForce processing does **not** remove, relax, or replace those upstream restrictions.

See [LICENSE](LICENSE) for the composite provenance and redistribution notice.

## Included Datasets

| Dataset | Official paper / project | Official license source | Official license summary | EgoForce-specific processing in this repository |
| --- | --- | --- | --- | --- |
| `ARCTIC` | [ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation](https://arctic.is.tue.mpg.de/) | [ARCTIC license](https://arctic.is.tue.mpg.de/license.html) | Non-commercial scientific research, non-commercial education, and non-commercial artistic use only. Commercial use is prohibited without separate permission. The ARCTIC license also states that the data and software may not be reproduced, shared, distributed, transferred, or sublicensed to third parties without prior written permission. | EgoForce uses ARCTIC as an evaluation dataset and adds processed forearm annotations, hand masks, hand-joint occlusion metadata, filtered hand-present indices, and evaluation indexing files. |
| `H2O` | [H2O: Two Hands Manipulating Objects for First Person Interaction Recognition](https://taeinkwon.com/projects/h2o/) | [H2O terms of use](https://h2odataset.ethz.ch/) | Academic use only. No commercial use. No transfer to any third party. ETH Zurich and its licensors retain ownership; publications using the dataset must reference the dataset. | EgoForce uses H2O as an evaluation dataset and adds processed hand masks, and forearm annotations, filtered hand-present indices. |
| `HOT3D` | [HOT3D: Hand and Object Tracking in 3D from Egocentric Multi-View Videos](https://facebookresearch.github.io/hot3d/) | [HOT3D license agreement](https://www.projectaria.com/datasets/hot3d/license/) | HOT3D uses **different official licenses for different asset types**: sequence data and non-hand annotations are `CC BY-SA`; hand annotations are `CC BY-NC-SA`; 3D object models are `CC BY-SA` with an additional no-sale restriction. Users are responsible for complying with the terms for each asset type they use. | EgoForce uses HOT3D as an evaluation dataset and adds hand bounding boxes, occlusion metadata, filtered hand-present indices, and a custom validation split used in the paper. |


## Citation Requirements

If you use this repository or the processed evaluation setup, cite the corresponding EgoForce paper **and** cite the original datasets you use.

### ARCTIC

Official citation from the ARCTIC project page / license page:

```bibtex
@inproceedings{fan2023arctic,
  title = {{ARCTIC}: A Dataset for Dexterous Bimanual Hand-Object Manipulation},
  author = {Fan, Zicong and Taheri, Omid and Tzionas, Dimitrios and Kocabas, Muhammed and Kaufmann, Manuel and Black, Michael J. and Hilliges, Otmar},
  booktitle = {Proceedings IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year = {2023}
}
```

Sources:

- https://arctic.is.tue.mpg.de/
- https://arctic.is.tue.mpg.de/license.html

### H2O

Official citation from the H2O project page:

```bibtex
@InProceedings{Kwon_2021_ICCV,
  author = {Kwon, Taein and Tekin, Bugra and St\"uhmer, Jan and Bogo, Federica and Pollefeys, Marc},
  title = {H2O: Two Hands Manipulating Objects for First Person Interaction Recognition},
  booktitle = {Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
  month = {October},
  year = {2021},
  pages = {10138-10148}
}
```

Sources:

- https://taeinkwon.com/projects/h2o/
- https://h2odataset.ethz.ch/

### HOT3D

Official citation from the HOT3D homepage:

```bibtex
@article{banerjee2024hot3d,
  title={{HOT3D}: Hand and Object Tracking in {3D} from Egocentric Multi-View Videos},
  author={Banerjee, Prithviraj and Shkodrani, Sindi and Moulon, Pierre and Hampali, Shreyas and Han, Shangchen and Zhang, Fan and Zhang, Linguang and Fountain, Jade and Miller, Edward and Basol, Selen and Newcombe, Richard and Wang, Robert and Engel, Jakob Julian and Hodan, Tomas},
  journal={CVPR},
  year={2025}
}
```

Sources:

- https://facebookresearch.github.io/hot3d/
- https://www.projectaria.com/datasets/hot3d/license/


## Official Source Links

- ARCTIC project: https://arctic.is.tue.mpg.de/
- ARCTIC license: https://arctic.is.tue.mpg.de/license.html
- H2O project: https://taeinkwon.com/projects/h2o/
- H2O terms: https://h2odataset.ethz.ch/
- HOT3D project: https://facebookresearch.github.io/hot3d/
- HOT3D license: https://www.projectaria.com/datasets/hot3d/license/