PH2D
Description
PH2D contains 26,824 task-oriented egocentric human demonstrations and 1,552 aligned robot demonstrations, distributed as a 16.2 GB release. Human sequences are captured with Apple Vision Pro or Quest/Vision Pro plus ZED, while robot data comes primarily from Unitree H1 and supports H1-2 transfer. Grasping, placing, cup passing, and pouring episodes pair RGB with 3D head, wrist, and fingertip poses and language instructions, enabling human–humanoid co-training in a shared action space retargeted to robot actions.
License
MIT.*
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