| # H&R | |
| > Dataset of paper [Human2Robot: Learning Robot Actions from Paired Human-Robot Videos](https://arxiv.org/abs/2502.16587) (AAAI 2026 Oral) | |
| ## Data Details | |
| - /cam_data | |
| - /human_camera: obs of human | |
| - /robot_camera: obs of robot | |
| - /end_position: eef 6-dof position, [x, y, z, roll, pitch, yaw] represent position and orientation, where the rotation is expressed in Euler angles (degrees) with the order XYZ. | |
| - /gripper_state: 0/1, 1 for gripper open，0 for close | |
| - /action: This attribute is not available in version v0, but is introduced in version v1. It represents the spatial pose of the human hand in the robot frame. It is a 7-DOF vector consisting of [x, y, z, roll, pitch, yaw, gripper]. | |
| - qpos: Joint angles of the robot arm | |
| - qvel: Joint velocity of the robot arm | |
| ## Version | |
| - data | |
| - v0: The older version of the dataset. /end_position together with /gripper_state can be used as the action. | |
| - v1: In addition to the contents included in v0, there is an additional /action entry. | |
| ## Visualization Code | |
| ### Visualization the video of human and robot | |
| ``` | |
| python show_video.py --file_path /path/to/the/file | |
| ``` | |
| ## Citation | |
| If you use this dataset, please cite: | |
| ``` | |
| @inproceedings{xie2025human2robot, | |
| title={Human2robot: Learning robot actions from paired human-robot videos}, | |
| author={Xie, Sicheng and Cao, Haidong and Weng, Zejia and Xing, Zhen and Chen, Haoran and Shen, Shiwei and Leng, Jiaqi and Wu, Zuxuan and Jiang, Yu-Gang}, | |
| booktitle={Proceedings of the AAAI Conference on Artificial Intelligence}, | |
| year={2026} | |
| } | |
| ``` |