nvidia/video_to_data_challenge

Video to Data (V2D) Challenge Dataset

Dataset Description

The Video to Data (V2D) Challenge Dataset is an NVIDIA-developed benchmark for studying the complete path from human demonstration video to physics-grounded robot behavior. It supports three coupled challenge tracks over shared manipulation tasks: 4D human-object interaction reconstruction, robotic grounding, and end-to-end egocentric transfer.

• Challenge website
• Starter toolkit
• Dataset repository
• Contact: v2d_challenge@nvidia.com

Challenge Tracks

Track	Input	Goal	Evaluation summary
Track 1: Reconstruction	Monocular third-person RGB video	Recover the human, object pose, and object geometry as a metric 4D human-object interaction scene in a consistent world frame	Reconstruction accuracy and physical plausibility relative to the multi-view reference
Track 2: Robotic Grounding	Third-person 4D human-object interaction trajectories at different input-noise tiers	Retarget the demonstration and learn an executable policy for the robotic embodiment and simulator	Object-tracking performance at each input tier
Track 3: Egocentric	Egocentric human demonstration video	Produce an executable robot policy through either an explicit reconstruct-and-retarget pipeline or an implicit end-to-end method	Final results produced with the official evaluation script

Track 1: Reconstruction

Track 1 evaluates monocular 4D human-object interaction reconstruction under challenging conditions including occlusion, bimanual coordination, and long-horizon manipulation.

Participants reconstruct:

• the human body and hands;
• object pose trajectories;
• object geometry; and
• metric scale.

Track 1 is evaluated along two equally weighted axes:

1. Accuracy
   • Chamfer distance to the multi-view human mesh
   • Chamfer distance to the multi-view object mesh
2. Physical plausibility
   • Human-joint acceleration error
   • Object acceleration error
   • Contact penetration error

Track 2: Robotic Grounding

Track 2 measures how upstream reconstruction quality affects human-to-robot transfer and downstream policy learning.

The dataset provides three input tiers:

1. Tier 1 — Clean multi-view capture: an upper-bound input for upstream reconstruction.
2. Tier 2 — Synthetic corruption: trajectories with jitter, dropout, and contact errors sampled from Track 1 error distributions.
3. Tier 3 — Off-the-shelf reconstruction: trajectories produced by current reconstruction methods.

Each tier is scored separately. Metrics include AUC, SP-SR, MP-SR, and MPPE, as defined by the challenge evaluation protocol.

Track 3: Egocentric

Track 3 evaluates the full pipeline from egocentric human video to robot behavior. The track is method-agnostic: participants may use an explicit reconstruction-and-retargeting pipeline, an end-to-end model, a pretrained vision-language-action model, a world-action model, or a hybrid approach.

The NVIDIA-collected data includes human-object manipulation recordings and associated assets made available for development and evaluation. Depending on the released split, these assets may include:

• egocentric videos;
• motion-capture trajectories;
• sequence metadata;
• textured 3D object meshes; and
• URDF object descriptions.

Use eval_e2e.py from the starter toolkit to package the required reconstructions and recorded policy evaluations.

Download

Install the Hugging Face Hub client:

python -m pip install -U "huggingface_hub"

Download the complete dataset repository while preserving its file structure:

hf download nvidia/video_to_data_challenge \
  --repo-type dataset \
  --local-dir ./video_to_data_challenge

If authentication is requested, first run:

hf auth login

The same operation can be performed from Python:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="nvidia/video_to_data_challenge",
    repo_type="dataset",
    local_dir="./video_to_data_challenge",
)

Large assets are stored using Hugging Face's large-file infrastructure. Make sure sufficient disk space is available before downloading the complete repository.

Support

For challenge or dataset questions, contact v2d_challenge@nvidia.com. For software issues, use the issue tracker in the Video to Data repository.