Datasets:

velvet-pine-22
/

PULSE

volunteer string	scenario string	recording_id string	segment_idx int64	timestamp string	start_sec int64	end_sec int64	duration_sec int64	primitive string	hand string	is_left_hand int64	is_right_hand int64	object string	description string	description_variants string
v1	s1	v1s1	0	00:00:03-00:00:05	3	5	2	pull	right	0	1	laptop power adapter	Pull laptop power adapter with right hand.	["Pull laptop power adapter with right hand.", "Pulling laptop power adapter with right hand.", "Right hand pulls laptop power adapter.", "Laptop power adapter is pulled with right hand."]
v1	s1	v1s1	1	00:00:05-00:00:07	5	7	2	pull	right	0	1	laptop power adapter	Pull laptop power adapter with right hand.	["Pull laptop power adapter with right hand.", "Pulling laptop power adapter with right hand.", "Right hand pulls laptop power adapter.", "Laptop power adapter is pulled with right hand."]
v1	s1	v1s1	2	00:00:10-00:00:12	10	12	2	pick_up	both	1	1	paper	Pick up paper with both hands.	["Pick up paper with both hands.", "Picking up paper with both hands.", "Both hands pick up paper.", "Paper is picked up with both hands."]
v1	s1	v1s1	3	00:00:13-00:00:15	13	15	2	grasp	both	1	1	laptop	Grasp laptop with both hands.	["Grasp laptop with both hands.", "Grasping laptop with both hands.", "Both hands grasp laptop.", "Laptop is grasped with both hands."]
v1	s1	v1s1	4	00:00:15-00:00:17	15	17	2	move	both	1	1	laptop	Move laptop with both hands.	["Move laptop with both hands.", "Moving laptop with both hands.", "Both hands move laptop.", "Laptop is moved with both hands."]
v1	s1	v1s1	5	00:00:18-00:00:20	18	20	2	grasp	both	1	1	laptop	Grasp laptop with both hands.	["Grasp laptop with both hands.", "Grasping laptop with both hands.", "Both hands grasp laptop.", "Laptop is grasped with both hands."]
v1	s1	v1s1	6	00:00:24-00:00:26	24	26	2	grasp	both	1	1	tape	Grasp tape with both hands.	["Grasp tape with both hands.", "Grasping tape with both hands.", "Both hands grasp tape.", "Tape is grasped with both hands."]
v1	s1	v1s1	7	00:00:26-00:00:27	26	27	1	put_down	both	1	1	tape	Put down tape with both hands.	["Put down tape with both hands.", "Putting down tape with both hands.", "Both hands put down tape.", "Tape is put down with both hands."]
v1	s1	v1s1	8	00:00:27-00:00:29	27	29	2	pick_up	left	1	0	marker	Pick up marker with left hand.	["Pick up marker with left hand.", "Picking up marker with left hand.", "Left hand picks up marker.", "Marker is picked up with left hand."]
v1	s1	v1s1	9	00:00:30-00:00:32	30	32	2	place	right	0	1	marker	Place marker with right hand.	["Place marker with right hand.", "Placing marker with right hand.", "Right hand places marker.", "Marker is placed with right hand."]
v1	s1	v1s1	10	00:00:33-00:00:35	33	35	2	grasp	right	0	1	marker	Grasp marker with right hand.	["Grasp marker with right hand.", "Grasping marker with right hand.", "Right hand grasps marker.", "Marker is grasped with right hand."]
v1	s1	v1s1	11	00:00:36-00:00:38	36	38	2	place	left	1	0	marker	Place marker with left hand.	["Place marker with left hand.", "Placing marker with left hand.", "Left hand places marker.", "Marker is placed with left hand."]
v1	s1	v1s1	12	00:00:39-00:00:41	39	41	2	pick_up	both	1	1	wallet	Pick up wallet with both hands.	["Pick up wallet with both hands.", "Picking up wallet with both hands.", "Both hands pick up wallet.", "Wallet is picked up with both hands."]
v1	s1	v1s1	13	00:00:44-00:00:46	44	46	2	pick_up	right	0	1	laptop power adapter	Pick up laptop power adapter with right hand.	["Pick up laptop power adapter with right hand.", "Picking up laptop power adapter with right hand.", "Right hand picks up laptop power adapter.", "Laptop power adapter is picked up with right hand."]
v1	s1	v1s1	14	00:00:46-00:00:48	46	48	2	adjust	both	1	1	laptop power adapter	Adjust laptop power adapter with both hands.	["Adjust laptop power adapter with both hands.", "Adjusting laptop power adapter with both hands.", "Both hands adjust laptop power adapter.", "Laptop power adapter is adjusted with both hands."]
v1	s1	v1s1	15	00:00:49-00:00:51	49	51	2	hold	both	1	1	laptop power adapter	Hold laptop power adapter with both hands.	["Hold laptop power adapter with both hands.", "Holding laptop power adapter with both hands.", "Both hands hold laptop power adapter.", "Laptop power adapter is held with both hands."]
v1	s1	v1s1	16	00:00:52-00:00:54	52	54	2	put_down	both	1	1	laptop power adapter	Put down laptop power adapter with both hands.	["Put down laptop power adapter with both hands.", "Putting down laptop power adapter with both hands.", "Both hands put down laptop power adapter.", "Laptop power adapter is put down with both hands."]
v1	s1	v1s1	17	00:00:54-00:00:56	54	56	2	adjust	right	0	1	paper	Adjust paper with right hand.	["Adjust paper with right hand.", "Adjusting paper with right hand.", "Right hand adjusts paper.", "Paper is adjusted with right hand."]
v1	s1	v1s1	18	00:00:56-00:00:58	56	58	2	grasp	both	1	1	laptop power adapter	Grasp laptop power adapter with both hands.	["Grasp laptop power adapter with both hands.", "Grasping laptop power adapter with both hands.", "Both hands grasp laptop power adapter.", "Laptop power adapter is grasped with both hands."]
v1	s1	v1s1	19	00:00:59-00:01:01	59	61	2	adjust	both	1	1	laptop power adapter	Adjust laptop power adapter with both hands.	["Adjust laptop power adapter with both hands.", "Adjusting laptop power adapter with both hands.", "Both hands adjust laptop power adapter.", "Laptop power adapter is adjusted with both hands."]
v1	s1	v1s1	20	00:01:02-00:01:04	62	64	2	put_down	right	0	1	laptop power adapter	Put down laptop power adapter with right hand.	["Put down laptop power adapter with right hand.", "Putting down laptop power adapter with right hand.", "Right hand puts down laptop power adapter.", "Laptop power adapter is put down with right hand."]
v1	s1	v1s1	21	00:01:08-00:01:10	68	70	2	remove	both	1	1	laptop power adapter	Remove laptop power adapter with both hands.	["Remove laptop power adapter with both hands.", "Removing laptop power adapter with both hands.", "Both hands remove laptop power adapter.", "Laptop power adapter is removed with both hands."]
v1	s1	v1s1	22	00:01:18-00:01:20	78	80	2	grasp	both	1	1	laptop power adapter	Grasp laptop power adapter with both hands.	["Grasp laptop power adapter with both hands.", "Grasping laptop power adapter with both hands.", "Both hands grasp laptop power adapter.", "Laptop power adapter is grasped with both hands."]
v1	s1	v1s1	23	00:01:21-00:01:23	81	83	2	adjust	both	1	1	laptop power adapter	Adjust laptop power adapter with both hands.	["Adjust laptop power adapter with both hands.", "Adjusting laptop power adapter with both hands.", "Both hands adjust laptop power adapter.", "Laptop power adapter is adjusted with both hands."]
v1	s1	v1s1	24	00:01:24-00:01:26	84	86	2	put_down	right	0	1	laptop power adapter	Put down laptop power adapter with right hand.	["Put down laptop power adapter with right hand.", "Putting down laptop power adapter with right hand.", "Right hand puts down laptop power adapter.", "Laptop power adapter is put down with right hand."]
v1	s1	v1s1	25	00:01:27-00:01:29	87	89	2	grasp	left	1	0	laptop power adapter	Grasp laptop power adapter with left hand.	["Grasp laptop power adapter with left hand.", "Grasping laptop power adapter with left hand.", "Left hand grasps laptop power adapter.", "Laptop power adapter is grasped with left hand."]
v1	s1	v1s1	26	00:01:30-00:01:32	90	92	2	pick_up	both	1	1	paper	Pick up paper with both hands.	["Pick up paper with both hands.", "Picking up paper with both hands.", "Both hands pick up paper.", "Paper is picked up with both hands."]
v1	s1	v1s1	27	00:01:33-00:01:35	93	95	2	put_down	both	1	1	paper	Put down paper with both hands.	["Put down paper with both hands.", "Putting down paper with both hands.", "Both hands put down paper.", "Paper is put down with both hands."]
v1	s2	v1s2	0	00:00:00-00:00:05	0	5	5	open	both	1	1	box	Open box with both hands.	["Open box with both hands.", "Opening box with both hands.", "Both hands open box.", "Box is opened with both hands."]
v1	s2	v1s2	1	00:00:11-00:00:14	11	14	3	close	both	1	1	box	Close box with both hands.	["Close box with both hands.", "Closing box with both hands.", "Both hands close box.", "Box is closed with both hands."]
v1	s2	v1s2	2	00:00:14-00:00:16	14	16	2	open	both	1	1	box	Open box with both hands.	["Open box with both hands.", "Opening box with both hands.", "Both hands open box.", "Box is opened with both hands."]
v1	s2	v1s2	3	00:00:16-00:00:17	16	17	1	close	both	1	1	box	Close box with both hands.	["Close box with both hands.", "Closing box with both hands.", "Both hands close box.", "Box is closed with both hands."]
v1	s2	v1s2	4	00:00:17-00:00:20	17	20	3	push	both	1	1	box	Push box with both hands.	["Push box with both hands.", "Pushing box with both hands.", "Both hands push box.", "Box is pushed with both hands."]
v1	s2	v1s2	5	00:00:20-00:00:21	20	21	1	open	both	1	1	box	Open box with both hands.	["Open box with both hands.", "Opening box with both hands.", "Both hands open box.", "Box is opened with both hands."]
v1	s2	v1s2	6	00:00:21-00:00:24	21	24	3	close	both	1	1	box	Close box with both hands.	["Close box with both hands.", "Closing box with both hands.", "Both hands close box.", "Box is closed with both hands."]
v1	s2	v1s2	7	00:00:25-00:00:26	25	26	1	move	right	0	1	tape	Move tape with right hand.	["Move tape with right hand.", "Moving tape with right hand.", "Right hand moves tape.", "Tape is moved with right hand."]
v1	s2	v1s2	8	00:00:26-00:00:28	26	28	2	pull	both	1	1	tape	Pull tape with both hands.	["Pull tape with both hands.", "Pulling tape with both hands.", "Both hands pull tape.", "Tape is pulled with both hands."]
v1	s2	v1s2	9	00:00:28-00:00:29	28	29	1	place	both	1	1	tape	Place tape with both hands.	["Place tape with both hands.", "Placing tape with both hands.", "Both hands place tape.", "Tape is placed with both hands."]
v1	s2	v1s2	10	00:00:29-00:00:44	29	44	15	push	both	1	1	tape	Push tape with both hands.	["Push tape with both hands.", "Pushing tape with both hands.", "Both hands push tape.", "Tape is pushed with both hands."]
v1	s2	v1s2	11	00:00:45-00:00:48	45	48	3	push	both	1	1	box	Push box with both hands.	["Push box with both hands.", "Pushing box with both hands.", "Both hands push box.", "Box is pushed with both hands."]
v1	s2	v1s2	12	00:00:48-00:00:49	48	49	1	pick_up	both	1	1	box	Pick up box with both hands.	["Pick up box with both hands.", "Picking up box with both hands.", "Both hands pick up box.", "Box is picked up with both hands."]
v1	s2	v1s2	13	00:00:49-00:00:50	49	50	1	move	both	1	1	box	Move box with both hands.	["Move box with both hands.", "Moving box with both hands.", "Both hands move box.", "Box is moved with both hands."]
v1	s2	v1s2	14	00:00:50-00:00:52	50	52	2	place	both	1	1	box	Place box with both hands.	["Place box with both hands.", "Placing box with both hands.", "Both hands place box.", "Box is placed with both hands."]
v1	s3	v1s3	0	00:00:09-00:00:11	9	11	2	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	1	00:00:11-00:00:14	11	14	3	open	right	0	1	sealed jar	Open sealed jar with right hand.	["Open sealed jar with right hand.", "Opening sealed jar with right hand.", "Right hand opens sealed jar.", "Sealed jar is opened with right hand."]
v1	s3	v1s3	2	00:00:16-00:00:17	16	17	1	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	3	00:00:17-00:00:20	17	20	3	open	right	0	1	sealed jar	Open sealed jar with right hand.	["Open sealed jar with right hand.", "Opening sealed jar with right hand.", "Right hand opens sealed jar.", "Sealed jar is opened with right hand."]
v1	s3	v1s3	4	00:00:22-00:00:23	22	23	1	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	5	00:00:23-00:00:25	23	25	2	open	right	0	1	sealed jar	Open sealed jar with right hand.	["Open sealed jar with right hand.", "Opening sealed jar with right hand.", "Right hand opens sealed jar.", "Sealed jar is opened with right hand."]
v1	s3	v1s3	6	00:00:26-00:00:28	26	28	2	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	7	00:00:28-00:00:35	28	35	7	open	right	0	1	sealed jar	Open sealed jar with right hand.	["Open sealed jar with right hand.", "Opening sealed jar with right hand.", "Right hand opens sealed jar.", "Sealed jar is opened with right hand."]
v1	s3	v1s3	8	00:00:36-00:00:37	36	37	1	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	9	00:00:37-00:00:39	37	39	2	open	right	0	1	sealed jar	Open sealed jar with right hand.	["Open sealed jar with right hand.", "Opening sealed jar with right hand.", "Right hand opens sealed jar.", "Sealed jar is opened with right hand."]
v1	s3	v1s3	10	00:00:40-00:00:42	40	42	2	put_down	both	1	1	sealed jar	Put down sealed jar with both hands.	["Put down sealed jar with both hands.", "Putting down sealed jar with both hands.", "Both hands put down sealed jar.", "Sealed jar is put down with both hands."]
v1	s3	v1s3	11	00:00:42-00:00:43	42	43	1	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	12	00:00:43-00:00:47	43	47	4	remove	both	1	1	tea bag	Remove tea bag with both hands.	["Remove tea bag with both hands.", "Removing tea bag with both hands.", "Both hands remove tea bag.", "Tea bag is removed with both hands."]
v1	s3	v1s3	13	00:00:47-00:00:50	47	50	3	remove	both	1	1	tea bag	Remove tea bag with both hands.	["Remove tea bag with both hands.", "Removing tea bag with both hands.", "Both hands remove tea bag.", "Tea bag is removed with both hands."]
v1	s3	v1s3	14	00:00:50-00:00:52	50	52	2	insert	right	0	1	tea bag	Insert tea bag with right hand.	["Insert tea bag with right hand.", "Inserting tea bag with right hand.", "Right hand inserts tea bag.", "Tea bag is inserted with right hand."]
v1	s3	v1s3	15	00:00:53-00:00:54	53	54	1	grasp	right	0	1	tea bag	Grasp tea bag with right hand.	["Grasp tea bag with right hand.", "Grasping tea bag with right hand.", "Right hand grasps tea bag.", "Tea bag is grasped with right hand."]
v1	s3	v1s3	16	00:00:54-00:00:55	54	55	1	insert	right	0	1	tea bag	Insert tea bag with right hand.	["Insert tea bag with right hand.", "Inserting tea bag with right hand.", "Right hand inserts tea bag.", "Tea bag is inserted with right hand."]
v1	s3	v1s3	17	00:00:56-00:00:57	56	57	1	grasp	right	0	1	tea bag	Grasp tea bag with right hand.	["Grasp tea bag with right hand.", "Grasping tea bag with right hand.", "Right hand grasps tea bag.", "Tea bag is grasped with right hand."]
v1	s3	v1s3	18	00:00:57-00:00:58	57	58	1	insert	right	0	1	tea bag	Insert tea bag with right hand.	["Insert tea bag with right hand.", "Inserting tea bag with right hand.", "Right hand inserts tea bag.", "Tea bag is inserted with right hand."]
v1	s3	v1s3	19	00:00:58-00:01:00	58	60	2	grasp	right	0	1	tea bag	Grasp tea bag with right hand.	["Grasp tea bag with right hand.", "Grasping tea bag with right hand.", "Right hand grasps tea bag.", "Tea bag is grasped with right hand."]
v1	s3	v1s3	20	00:01:00-00:01:02	60	62	2	insert	right	0	1	tea bag	Insert tea bag with right hand.	["Insert tea bag with right hand.", "Inserting tea bag with right hand.", "Right hand inserts tea bag.", "Tea bag is inserted with right hand."]
v1	s3	v1s3	21	00:01:02-00:01:04	62	64	2	grasp	right	0	1	tea bag	Grasp tea bag with right hand.	["Grasp tea bag with right hand.", "Grasping tea bag with right hand.", "Right hand grasps tea bag.", "Tea bag is grasped with right hand."]
v1	s3	v1s3	22	00:01:04-00:01:06	64	66	2	insert	right	0	1	tea bag	Insert tea bag with right hand.	["Insert tea bag with right hand.", "Inserting tea bag with right hand.", "Right hand inserts tea bag.", "Tea bag is inserted with right hand."]
v1	s3	v1s3	23	00:01:06-00:01:08	66	68	2	grasp	right	0	1	tea bag	Grasp tea bag with right hand.	["Grasp tea bag with right hand.", "Grasping tea bag with right hand.", "Right hand grasps tea bag.", "Tea bag is grasped with right hand."]
v1	s3	v1s3	24	00:01:08-00:01:10	68	70	2	insert	right	0	1	tea bag	Insert tea bag with right hand.	["Insert tea bag with right hand.", "Inserting tea bag with right hand.", "Right hand inserts tea bag.", "Tea bag is inserted with right hand."]
v1	s3	v1s3	25	00:01:10-00:01:12	70	72	2	grasp	right	0	1	tea bag	Grasp tea bag with right hand.	["Grasp tea bag with right hand.", "Grasping tea bag with right hand.", "Right hand grasps tea bag.", "Tea bag is grasped with right hand."]
v1	s3	v1s3	26	00:01:12-00:01:14	72	74	2	insert	right	0	1	tea bag	Insert tea bag with right hand.	["Insert tea bag with right hand.", "Inserting tea bag with right hand.", "Right hand inserts tea bag.", "Tea bag is inserted with right hand."]
v1	s3	v1s3	27	00:01:14-00:01:16	74	76	2	grasp	right	0	1	tea bag	Grasp tea bag with right hand.	["Grasp tea bag with right hand.", "Grasping tea bag with right hand.", "Right hand grasps tea bag.", "Tea bag is grasped with right hand."]
v1	s3	v1s3	28	00:01:16-00:01:18	76	78	2	insert	right	0	1	tea bag	Insert tea bag with right hand.	["Insert tea bag with right hand.", "Inserting tea bag with right hand.", "Right hand inserts tea bag.", "Tea bag is inserted with right hand."]
v1	s3	v1s3	29	00:01:20-00:01:22	80	82	2	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	30	00:01:22-00:01:25	82	85	3	close	right	0	1	sealed jar	Close sealed jar with right hand.	["Close sealed jar with right hand.", "Closing sealed jar with right hand.", "Right hand closes sealed jar.", "Sealed jar is closed with right hand."]
v1	s3	v1s3	31	00:01:25-00:01:28	85	88	3	grasp	right	0	1	sealed jar	Grasp sealed jar with right hand.	["Grasp sealed jar with right hand.", "Grasping sealed jar with right hand.", "Right hand grasps sealed jar.", "Sealed jar is grasped with right hand."]
v1	s3	v1s3	32	00:01:28-00:01:30	88	90	2	grasp	left	1	0	sealed jar	Grasp sealed jar with left hand.	["Grasp sealed jar with left hand.", "Grasping sealed jar with left hand.", "Left hand grasps sealed jar.", "Sealed jar is grasped with left hand."]
v1	s3	v1s3	33	00:01:30-00:01:34	90	94	4	close	both	1	1	sealed jar	Close sealed jar with both hands.	["Close sealed jar with both hands.", "Closing sealed jar with both hands.", "Both hands close sealed jar.", "Sealed jar is closed with both hands."]
v1	s3	v1s3	34	00:01:35-00:01:36	95	96	1	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	35	00:01:36-00:01:42	96	102	6	close	right	0	1	sealed jar	Close sealed jar with right hand.	["Close sealed jar with right hand.", "Closing sealed jar with right hand.", "Right hand closes sealed jar.", "Sealed jar is closed with right hand."]
v1	s3	v1s3	36	00:01:43-00:01:44	103	104	1	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	37	00:01:44-00:01:49	104	109	5	close	right	0	1	sealed jar	Close sealed jar with right hand.	["Close sealed jar with right hand.", "Closing sealed jar with right hand.", "Right hand closes sealed jar.", "Sealed jar is closed with right hand."]
v1	s3	v1s3	38	00:01:50-00:01:51	110	111	1	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	39	00:01:51-00:01:56	111	116	5	close	right	0	1	sealed jar	Close sealed jar with right hand.	["Close sealed jar with right hand.", "Closing sealed jar with right hand.", "Right hand closes sealed jar.", "Sealed jar is closed with right hand."]
v1	s3	v1s3	40	00:01:56-00:01:57	116	117	1	grasp	both	1	1	sealed jar	Grasp sealed jar with both hands.	["Grasp sealed jar with both hands.", "Grasping sealed jar with both hands.", "Both hands grasp sealed jar.", "Sealed jar is grasped with both hands."]
v1	s3	v1s3	41	00:01:57-00:02:02	117	122	5	close	right	0	1	sealed jar	Close sealed jar with right hand.	["Close sealed jar with right hand.", "Closing sealed jar with right hand.", "Right hand closes sealed jar.", "Sealed jar is closed with right hand."]
v1	s3	v1s3	42	00:02:03-00:02:05	123	125	2	pick_up	left	1	0	cloth	Pick up cloth with left hand.	["Pick up cloth with left hand.", "Picking up cloth with left hand.", "Left hand picks up cloth.", "Cloth is picked up with left hand."]
v1	s3	v1s3	43	00:02:05-00:02:10	125	130	5	move	right	0	1	cloth	Move cloth with right hand.	["Move cloth with right hand.", "Moving cloth with right hand.", "Right hand moves cloth.", "Cloth is moved with right hand."]
v1	s3	v1s3	44	00:02:10-00:02:15	130	135	5	move	right	0	1	cloth	Move cloth with right hand.	["Move cloth with right hand.", "Moving cloth with right hand.", "Right hand moves cloth.", "Cloth is moved with right hand."]
v1	s3	v1s3	45	00:02:15-00:02:21	135	141	6	move	right	0	1	cloth	Move cloth with right hand.	["Move cloth with right hand.", "Moving cloth with right hand.", "Right hand moves cloth.", "Cloth is moved with right hand."]
v1	s3	v1s3	46	00:02:21-00:02:26	141	146	5	move	right	0	1	cloth	Move cloth with right hand.	["Move cloth with right hand.", "Moving cloth with right hand.", "Right hand moves cloth.", "Cloth is moved with right hand."]
v1	s3	v1s3	47	00:02:26-00:02:32	146	152	6	move	right	0	1	cloth	Move cloth with right hand.	["Move cloth with right hand.", "Moving cloth with right hand.", "Right hand moves cloth.", "Cloth is moved with right hand."]
v1	s3	v1s3	48	00:02:32-00:02:33	152	153	1	put_down	right	0	1	cloth	Put down cloth with right hand.	["Put down cloth with right hand.", "Putting down cloth with right hand.", "Right hand puts down cloth.", "Cloth is put down with right hand."]
v1	s3	v1s3	49	00:02:33-00:02:35	153	155	2	pick_up	both	1	1	sealed jar	Pick up sealed jar with both hands.	["Pick up sealed jar with both hands.", "Picking up sealed jar with both hands.", "Both hands pick up sealed jar.", "Sealed jar is picked up with both hands."]
v1	s3	v1s3	50	00:02:35-00:02:36	155	156	1	move	both	1	1	sealed jar	Move sealed jar with both hands.	["Move sealed jar with both hands.", "Moving sealed jar with both hands.", "Both hands move sealed jar.", "Sealed jar is moved with both hands."]
v1	s3	v1s3	51	00:02:36-00:02:37	156	157	1	place	both	1	1	sealed jar	Place sealed jar with both hands.	["Place sealed jar with both hands.", "Placing sealed jar with both hands.", "Both hands place sealed jar.", "Sealed jar is placed with both hands."]
v1	s3	v1s3	52	00:02:38-00:02:40	158	160	2	pick_up	both	1	1	sealed jar	Pick up sealed jar with both hands.	["Pick up sealed jar with both hands.", "Picking up sealed jar with both hands.", "Both hands pick up sealed jar.", "Sealed jar is picked up with both hands."]
v1	s3	v1s3	53	00:02:40-00:02:42	160	162	2	place	both	1	1	sealed jar	Place sealed jar with both hands.	["Place sealed jar with both hands.", "Placing sealed jar with both hands.", "Both hands place sealed jar.", "Sealed jar is placed with both hands."]
v1	s3	v1s3	54	00:02:46-00:02:48	166	168	2	place	left	1	0	sealed jar	Place sealed jar with left hand.	["Place sealed jar with left hand.", "Placing sealed jar with left hand.", "Left hand places sealed jar.", "Sealed jar is placed with left hand."]
v1	s4	v1s4	0	00:00:02-00:00:03	2	3	1	grasp	right	0	1	rice bowl	Grasp rice bowl with right hand.	["Grasp rice bowl with right hand.", "Grasping rice bowl with right hand.", "Right hand grasps rice bowl.", "Rice bowl is grasped with right hand."]
v1	s4	v1s4	1	00:00:03-00:00:04	3	4	1	grasp	left	1	0	rice bowl	Grasp rice bowl with left hand.	["Grasp rice bowl with left hand.", "Grasping rice bowl with left hand.", "Left hand grasps rice bowl.", "Rice bowl is grasped with left hand."]

End of preview. Expand in Data Studio

PULSE

A Synchronized Five-Modality Dataset for Multi-Modal Daily Activity Understanding

MoCap · EMG · Eye Tracking · IMU · Fingertip Pressure — time-aligned on a common 100 Hz timebase

NeurIPS 2026 Evaluations & Datasets · under double-blind review · CC BY-NC 4.0

At a glance

40	9	5	7,356
volunteers	scenarios (S1–S8 + S9 motion primitives)	modalities @ 100 Hz	dense action segments
337 total recordings (304 task + 33 S9)	~9.6 h total (S1–S8: ~6.8 h)	common 100 Hz timebase	6 benchmark tasks
282 annotated	36 annotated volunteers	18 motor primitives observed	54 unique objects

Status — anonymous review release. Author names, institution, and the permanent dataset URL will be revealed in the camera-ready version. Submission-time artifacts are available: companion code at velvet-pine-22/PULSE-code, a small representative sample at velvet-pine-22/PULSE-sample, and Croissant 1.0 metadata with RAI fields in croissant.json.

Tip. The Dataset Viewer at the top of this page is fully interactive — switch between the emg / imu / mocap / eyetrack / pressure / action_segments subsets via the dropdown, and hover any column to see its per-value distribution. The action_segments subset is the flat per-segment table (7,356 rows): hover the primitive, hand, or object columns to browse the label distributions interactively. The static figures further down summarise cross-tab statistics (per-modality coverage, per-volunteer matrix) the column-wise viewer cannot compute.

Quick start

Load any single modality directly through datasets:

from datasets import load_dataset

emg = load_dataset("velvet-pine-22/PULSE", "emg", split="train")
# Available configs: emg, imu, mocap, eyetrack, pressure, action_segments.
# Each per-modality CSV has a consistent schema across volunteers.
# (volunteer, scenario) is recovered from the source file path; the
# per-modality CSVs themselves do not carry id columns.

# Flat action-segments table (also browsable in the Dataset Viewer above):
seg = load_dataset("velvet-pine-22/PULSE", "action_segments", split="train")
# 7,356 rows × 15 columns: volunteer, scenario, primitive, hand, object, ...

Inspect one recording on disk:

data/v1/s1/
├── aligned_emg_100hz.csv
├── aligned_eyetrack_100hz.csv
├── aligned_imu_100hz.csv
├── aligned_mocap_100hz.csv
├── aligned_pressure_100hz.csv
├── aligned_myo_pose_100hz.csv     # auxiliary
├── aligned_myo_quat_100hz.csv     # auxiliary
├── alignment_metadata.json
├── raw/                           # opt-in: original Qualisys TSV (~40 MB)
│   └── aligned_v1s1_s_Q.tsv
└── videos/                        # opt-in: scene cam + eye-tracking video (~200 MB; no audio or visible faces)
    ├── trimmed_v1s1_*Scene Cam.mp4
    └── trimmed_v1s1_*Eye Tracking Video.mp4

Want only the benchmark streams? Skip the heavy bits at download:

hf download velvet-pine-22/PULSE --repo-type dataset \
    --exclude 'data/v*/s*/raw/**' \
    --exclude 'data/v*/s*/videos/**'
# ~10 GB instead of ~86 GB

Dataset statistics

Modality availability

Realistic missing-modality pattern across the 304 S1–S8 task recordings: EMG (99.3%), IMU (98.4%), EyeTrack (92.8%), and Scene Cam (93.1%) are present on >90% of task recordings; MoCap (80.9%) and Pressure (69.7%) are the two limiting modalities. All five sensors are simultaneously available on 198 / 304 task recordings (65.1%) — drives the T4 missing-modality benchmark.

Recordings and durations

Scenarios are well-balanced (33–40 recordings each). Recording length is right-skewed with a long tail of sessions up to ~9 minutes; median 77 s, mean 104 s.

Recordings per scenario and recording-duration histogram

Per-volunteer modality coverage and label distributions

The matrix below shows the missing-modality structure is systematic, not random: early volunteers (v1–v22) have intermittent MoCap and Pressure coverage; from v23 onwards almost all five modalities are present on every recording. Bimanual segments dominate (50%), and the manipulated-object distribution has a heavy head (top 8 of 54 objects account for ~51% of all segments).

Per-volunteer modality matrix; segments by hand; top manipulated objects

Motor-primitive distribution

7,356 dense segments covering all 18 motor primitives of the taxonomy (stabilize at 0.1% and support, with a single segment, are the rarest). The top three primitives — grasp / move / place — together account for 59% of all segments, reflecting the manipulation-heavy nature of daily activities.

Distribution of motor primitives across 7,356 dense action segments

The five modalities

Modality	Sensor	Channels / dim	Notes
MoCap	Qualisys optical	56 joints incl. all 10 fingertips · 422 raw / 620 processed dim	Aligned by its recorded start timestamp, like all streams
EMG	Myo Armband	8 channels, 20–450 Hz BP	Dominant forearm
EyeTrack	Dikablis Glasses 3	24-dim	Binocular numeric features; v1/s1 and v14/s8 are excluded from EyeTrack benchmarks because one eye's channels are unavailable
IMU	10 wearable units	180 dim total = 18 cols/unit: 16 signal channels (acc3 / gyro3 / angle3 / mag3 / quat4) + per-unit temperature and battery, retained verbatim in the released CSVs	Body-distributed
Pressure	Fingertip pressure array	50 channels (25/hand)	Quantitative grip force

Auxiliary — first-person scene-camera video (1280×720, 25 fps). Released videos contain no audio track and no visible faces. They remain privacy-sensitive auxiliary material and are not part of the T1–T6 benchmark protocol.

Synchronization — All streams are resampled onto a common 100 Hz timebase and placed on it from each device's recorded start timestamp; the aligned window is the overlap of all available streams (per-stream start and end times, and per-recording exceptions, are recorded in each recording's alignment_metadata.json).

Annotations

Two-level scheme. The dense segments were annotated by vision-language models (VLMs), and every segment was then confirmed or corrected by a human, so all released segments are human-reviewed; see Annotation provenance below.

L1 — scenario label (one of 8 + S9 motion-primitive protocol) per recording.
L2 — dense action segments (mean 2.2 s, median 2 s; boundaries at 1 s resolution). Each segment carries:
- motor primitive (taxonomy of 18; all 18 observed in this release)
- hand (left / right / both)
- manipulated object (scene-specific whitelist; 54 distinct objects observed)
- natural-language description with 4 paraphrased variants for language-grounded use

Annotations are released in two complementary forms:

annotations/v*/s*.json — one nested JSON per recording (canonical structure, referenced by croissant.json).
annotations_flat/segments.csv — flat table with one row per segment (used by the Dataset Viewer action_segments subset; 7,356 rows × 15 columns).

Per-volunteer × scenario segment counts are in metadata/annotations/segment_counts.{csv,xlsx}. _run_summary.json and logs/ in the same folder are run logs from the VLM annotation step; they do not describe the released labels.

Annotation provenance

Action segments were produced in two steps. (1) VLM annotation: vision-language models segmented each egocentric scene-camera video under a scene-constrained prompt with the fixed 18-primitive vocabulary and per-scenario object lists. (2) Human review: a reviewer then checked each annotated recording segment by segment against its egocentric video with gaze overlay and confirmed or corrected every segment, editing, adding or deleting segments where needed. During review, nine objects missing from the per-scenario lists were added to the object vocabulary; the primitive vocabulary was not changed.

All released action segments have therefore been confirmed or corrected by a human: every segment of every annotated recording went through this review, except v40/s3, whose egocentric view mostly misses the hands and which the authors re-annotated from third-person video and motion-capture hand trajectories. v18/s2 carries no action labels because its egocentric video froze (see Known issues); it has no file under annotations/. The release contains 7,356 segments in 282 recordings.

Six benchmark tasks

	Task	Headline modality use
T1	Scene recognition (8-way)	All five
T2	Fine-grained action recognition (motor primitive × object × hand)	All five
T3	Grasp onset anticipation	EMG + IMU lead
T4	Missing-modality robustness	Trained on all, evaluated under modality dropout
T5	Tactile-driven grasp state recognition	Pressure-centered sensorimotor windows
T6	Cross-modal pressure prediction	EMG / hand MoCap → pressure

DailyActFormer is provided as a strong T2 baseline: it has the highest mean headline score, but margins over the strongest published baselines are small and confidence intervals overlap. T3 and T6 are intended as open challenge tasks rather than solved benchmarks. Full results, ablations, and the grasp-phase timing analysis are in the accompanying NeurIPS submission (linked here after double-blind review).

Train / test splits (subject-independent)

Split	Train	Test held out	Notes
Headline (T1, T2)	31 volunteers · 242 recordings · 6,261 segments	`v14, v30, v34, v38, v41` · 40 recordings · 1,095 segments	`v14` contributes only EMG, EyeTrack, IMU
Full-modality (T4)	same training pool	`v3, v25, v26, v27`	Restricted to recordings with full MoCap+EMG+EyeTrack+IMU

40 volunteers, IDs v1–v41 with v7 not assigned. S9 motion-primitive recordings are present for a subset of volunteers and have no MoCap or scene-camera video.

Known issues

v18/s2 – frozen egocentric video. The scene camera dropped out ~15.5 s into the raw recording; the trimmed egocentric and gaze-overlay videos are frozen after 6.5 s. No action segments are released for this recording (no annotations/v18/s2.json; has_dense_annotations = 0 in metadata/recordings.csv). This does not mean that no actions occurred. All sensor streams are unaffected.
v36/s9, v11/s9 – scene video ends early. The scene-camera stream is ~152 s (v36/s9) and ~15 s (v11/s9) shorter than the recording, so the end of the gaze-overlay video is a frozen frame. S9 has no action annotations.
v20/s2 – corrupted IMU units. In aligned_imu_100hz.csv, units WT4, WT5 and WT7 contain values that grow linearly over the recording to physically implausible magnitudes (up to ~7×10^5), and WT6 is frozen (zero angular velocity, constant orientation and magnetic field). Exclude these units from IMU analyses of this recording.
Trimmed MP4s use edit lists. Videos (where distributed, e.g. in PULSE-sample) were trimmed by stream copy with an MP4 edit list; decoders that ignore edit lists may return up to several seconds of extra footage at the start.
Manually trimmed recordings. v32/s1 (first 113 s) and v30/s6 (first 137 s) were trimmed to remove an aborted first attempt with the experimenter in view; see manual_trim in their alignment_metadata.json.
Placeholder rows. metadata/recordings.csv lists v4/s1 and v4/s4 with zero duration and no data; the 304 task recordings counted above include them (302 contain data).
Partial label coverage. Segments cover ~73% of the annotated recording time; intervals in which the hands or the manipulated object are out of view are left unlabelled. Boundaries have 1 s resolution.
Missing channels. 36 of the 282 annotated recordings have no MoCap stream; v14 lacks MoCap and pressure; v1/s1 and v14/s8 lack one eye's pupil-size and event channels.

Changelog

v1.1 (October 2026) — annotation refresh.
- All action segments replaced by the human-reviewed and corrected annotations described in Annotation provenance: 7,789 → 7,356 segments, still 282 annotated recordings (v16/s5 is now annotated; v18/s2 no longer is).
- Fixes to the previous labels: malformed timestamps (e.g. 01:00:02 written for 00:01:02), abbreviated hand labels with missing fields in 44 segments, and non-English text in 36 segment descriptions.
- v32/s1 and v30/s6 trimmed (see Known issues); metadata/recordings.csv and metadata/modality_coverage.xlsx updated accordingly.
- annotations_flat/segments.csv, metadata/annotations/segment_counts.{csv,xlsx} and the README figures regenerated from the released annotations.
- Description of the cross-modal time alignment updated: streams are aligned from each device's recorded start timestamp (see Synchronization).
v1.0 (May 2026) — initial release.

Repository layout

PULSE/
├── README.md            ← this file
├── DATASHEET.md         ← Gebru-style data card
├── LICENSE              ← CC BY-NC 4.0 + use restrictions
├── CODE_LICENSE         ← MIT, applies to (separately released) helper code
├── croissant.json       ← Croissant 1.0 machine-readable card with RAI fields
├── .gitattributes       ← LFS rules (do not delete before re-upload)
├── assets/              ← static figures used by this README
├── annotations/
│   └── v*/s*.json                    ← per-recording nested JSON (canonical)
├── annotations_flat/
│   └── segments.csv                  ← flat per-segment table (Dataset Viewer subset `action_segments`)
├── data/
│   └── v*/s*/
│       ├── aligned_<modality>_100hz.csv  (5 core + 2 Myo aux)
│       ├── alignment_metadata.json
│       ├── raw/      → opt-in raw Qualisys TSV (~40 MB / file, ~12 GB total)
│       └── videos/   → opt-in scene-cam + eye-tracking MP4 (~200 MB / pair)
├── metadata/
│   ├── modality_coverage.xlsx
│   ├── batch_alignment_summary.json
│   └── annotations/
│       ├── _run_summary.json
│       ├── segment_counts.{csv,xlsx}
│       └── logs/
└── docs/
    └── upload_to_huggingface.md

Ethics, privacy, and intended use

IRB / ethics committee approval obtained from the authors' institution (institution name withheld for double-blind review).
Written informed consent + separate media-release agreement for the scene-cam and eye-tracking videos; released videos contain no audio track and no visible faces.
The release does not include participant demographic attributes (sex, age, height, weight) collected for screening.
Use restrictions: see LICENSE. Surveillance, employee monitoring, and biometric re-identification applications without freely given consent are explicitly disallowed.
Downstream use of biometric-class modalities (EMG, eye tracking, pressure) for inference of sensitive attributes (fatigue, stress, medical conditions) on new subjects requires the deploying institution's own ethics review.

Citation

@inproceedings{anonymous2026pulse,
  title     = {PULSE: A Synchronized Five-Modality Dataset for Multi-Modal Daily Activity Understanding},
  author    = {Anonymous Authors},
  booktitle = {Submitted to NeurIPS 2026 Evaluations and Datasets Track},
  year      = {2026},
  note      = {Under double-blind review}
}

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