license: cc-by-4.0
pretty_name: RoboMoCap
tags:
- robotics
- humanoid
- robot-learning
- egocentric
- whole-body-motion
- 3d
RoboMoCap
A Large-Scale Whole-Body Motion Capture Dataset with Egocentric Vision for Robot Learning
[Website] [Paper] [Code]
Egocentric vision. High-fidelity whole-body motion.
RoboMoCap pairs multimodal first-person observations with optical whole-body motion capture for humanoid robot learning. With six head-mounted and two wrist-mounted cameras, the dataset captures diverse locomotion and loco-manipulation behaviours, from everyday walking to dynamic movements and complex object interactions.
Beyond what egocentric cameras can see. While many egocentric datasets focus primarily on hand-object interactions, RoboMoCap emphasises locomotion and loco-manipulation. By pairing first-person observations with high-fidelity optical motion capture, it provides accurate supervision for lower-body movement, foot placement, and whole-body coordination during navigation and object interactions.
Dataset Overview
- 200+ hours of recording
- 14 participants
- 5TB+ of data
- 290+ captured actions
Data Modalities
| Modality | Description |
|---|---|
| Egocentric sensing (RoboCap) | Six head-mounted cameras provide forward, downward, and side views, alongside IMU, magnetometer measurements, and WAV audio. |
| Wrist sensing (RoboWrist) | Left and right wrist cameras record close-range hand–object interactions, alongside IMU and magnetometer measurements. |
| Whole-body motion | A 53-marker NOKOV optical mocap setup records whole-body motion at 120 Hz, including leg and foot movement outside the wearable camera views. |
| External video | NOKOV's third-person video records the participant, manipulated objects, and the surrounding space. |
| Object motion | Reflective markers track manipulated objects alongside the participant's body motion. |
| Object geometry | Textured 3D scans preserve the shape and appearance of objects used in the recordings. |
| Hand pose | Hand pose complements wrist video to describe hand movements during interaction. |
License
This dataset is licensed under CC BY 4.0.
Citation
If you use this dataset, please cite:
@misc{robomocap,
title = {RoboMoCap: A Large-Scale Whole-Body Motion Capture Dataset with Egocentric Vision for Robot Learning},
howpublished = {\url{https://bitrobot-foundation.github.io/robomocap/}}
}