HORA (Hand–Object to Robot Action Dataset)
Description
HORA contains about 150,000 hand-object trajectories drawn from 63,141 tactile motion-capture demonstrations, 23,560 custom RGB-D recordings, and 66,924 trajectories derived from public datasets. RoboWheel reconstructs hand and object motion, refines contact plausibility, retargets it to robot arms, dexterous hands, and humanoids, and augments executable rollouts in Isaac Sim. Modalities include MANO parameters, object geometry and 6-DoF pose, contact, tactile maps, language task descriptions, robot RGB observations, joint states, and canonical end-effector actions for imitation and VLA training.
License
Apache-2.0.*
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