| --- |
| 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 |
|
|
| ```bash |
| 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. |
|
|
