metadata
pretty_name: Bihoi data samples
size_categories:
- n<1K
tags:
- bihoi
- hand-object-interaction
- bimanual-manipulation
- 3d
- mano
- motion-capture
Bihoi data samples
This release is a 100-sequence subset of the full BIHOI dataset, covering bimanual hand–object interactions across 18 object categories. 88,570 frames at 30 fps, interpolated from 10 fps pose estimates.
Download
hf download YFEI002/Bihoi-data-samples --repo-type dataset --local-dir ./bihoi
cd bihoi
sha256sum -c SHA256SUMS
unzip BIHOI_100_standard_hoi_exports.zip
Format
Each sequence is stored in fwd_capture/<dataset>/<take>/standardized_hoi_30fps/.
| File | Contents |
|---|---|
mano_left.npz, mano_right.npz |
MANO global_orient (T×3), hand_pose (T×45), transl (T×3), betas (10). |
obj_pose.npz |
Object trans (T×3), quat (T×4, wxyz). |
object_mesh.ply |
Canonical object mesh. |
frames.npy, source_frame_ids.npy, timestamps_sec.npy |
Frame indices, source-frame mapping and timestamps. |
metadata.json, table.json, README.md |
Sequence metadata, estimated table plane and format notes. |
Units: meters and radians. Coordinates: right-handed, +Z up, tabletop at Z=0.
MANO poses use axis-angle with flat_hand_mean=True.
Object poses transform the supplied mesh into world coordinates.
sequences.csv lists all sequences and frame counts; SHA256SUMS provides file checksums.
MANO model weights and RGB videos are not included.