PI-Dojo/EgoManipulation-xEmbody

EgoManipulation Cross-Embodiment (xEmbody)

EgoManipulation Cross-Embodiment (xEmbody) is a PI Dojo dataset that pairs egocentric human demonstrations with motion retargeted to the Unitree H2 humanoid with ALLEX hands. The xEmbody workflow uses stereo video and IMU recordings to estimate metric depth, SLAM camera poses, and 3D hand poses. Those observations support human motion reconstruction and retargeting of both whole-body motion and dexterous hand motion in simulation.

This release contains six episodes with synchronized RGB, depth previews, hand keypoints, human reconstruction, and robot replay data.

Episodes

All episodes are exported at 30 fps. Within an episode, frame i refers to the same instant in all seven videos, the trajectory and camera tables, the hand keypoints, and the SLAM pose file. Frame indices and timestamps start at zero on the trimmed timeline.

Dataset Viewer

Configuration	Row unit	Contents
default	One episode	Task label, seven video columns, playback metadata, and paths to episode and robot assets
trajectories	One frame	61 actuator angles in radians, floating-base position in meters, and base orientation as a wxyz quaternion
cameras	One frame	Robot head and recording camera poses and intrinsics

Each configuration uses the sample split. Join frame-level tables on episode_id, frame_index, and timestamp_ns.

Video column	Contents
rgb_video	Trimmed egocentric RGB
stereo_depth_video	RGB-aligned, colorized stereo depth preview
hand_keypoints_video	Hand keypoints projected onto RGB
human_reconstruction_video	Side view of the reconstructed human motion
h2_overlay_video	Retargeted H2 + ALLEX overlaid on RGB
h2_left_view_video	Left simulator view with robot head and SLAM camera markers
h2_right_view_video	Right simulator view with robot head and SLAM camera markers

The depth video is a colorized visualization of optical-axis depth. Numerical 3D hand positions are available in the hand keypoint Parquet files.

Episode assets and coordinate frames

Episode files are under assets/<episode_id>/. Each manifest.json lists its published files and SHA-256 checksums.

• hand_keypoints.parquet contains 42 rows per frame, ordered by frame, hand (left then right), and joint index. The x_m, y_m, and z_m fields are in meters in the recording camera optical frame. The u_px and v_px fields are pixel coordinates in the RGB image. Missing coordinates are null and marked with valid=false.
• trajectory.parquet and cameras.parquet use an episode-local, gravity-aligned replay world with +Z up. Camera optical axes are +X right, +Y down, and +Z forward. Poses are row-major 4×4 camera-to-world transforms. Intrinsics are row-major 3×3 matrices in pixels.
• slam_cam_pose.tum preserves the original SLAM world with timestamps in seconds on the trimmed timeline and quaternions in xyzw order. Left-multiply each TUM pose by replay_world_from_slam_world from slam_alignment.json to recover the corresponding slam_world_from_optical pose in the camera table.

Dataset metadata

The root-level meta.json is the machine-readable reference for the dataset. It records the schema version, shared frame and timestamp conventions, H2 + ALLEX actuator order, coordinate frames and units, camera pose and intrinsics conventions, the SLAM alignment convention, and the hand keypoint layout. Dataset metadata

Load the data

Request access on the dataset page, then authenticate with a Hugging Face account that has access.

hf auth login

from datasets import Video, load_dataset

repo = "PI-Dojo/EgoManipulation-xEmbody"
episodes = load_dataset(repo, "default", split="sample", streaming=True, token=True)

# Read the episode metadata and video paths without decoding the MP4s.
for name, feature in episodes.features.items():
    if isinstance(feature, Video):
        episodes = episodes.cast_column(name, Video(decode=False))

episode = next(iter(episodes))
print(episode["task_label"], episode["num_frames"], episode["rgb_video"]["path"])

Replay H2 + ALLEX

Download the shared robot assets and the trajectory and camera tables for the episode you want to replay. The example uses episode 1.

hf download PI-Dojo/EgoManipulation-xEmbody --type dataset \
  --include 'robot/**' \
  --include 'assets/1/trajectory.parquet' \
  --include 'assets/1/cameras.parquet' \
  --local-dir ./xembody

cd ./xembody
python -m pip install mujoco numpy pyarrow
python robot/replay.py --episode 1

The script checks the robot head camera poses against MuJoCo forward kinematics. Add --show for interactive kinematic playback. The URDF, meshes, joint order, and mimic-joint relationships are included under robot/.

License

The dataset card declares CC BY 4.0. The distributed robot assets include their license files. Unitree license · ALLEX license