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Datasets:
YashJain
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Multi-Object-HOI-v2

Tasks:
Text-to-3D
Modalities:
Text
Formats:
text
Size:
1K - 10K
Tags:
human-object-interaction
motion-generation
smpl-x
multi-object
3d-motion
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Datasets
License:
Dataset card Data Studio Files
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The person uses his right hand to move the plate,and then he uses his left hand to place the apple on the plate.
The person uses his right hand to move the plate,and then he uses his left hand to place the apple on the plate.
The person picks up the banana with his right hand, then he puts it on the plate using both hands.
The person picks up the banana with his right hand, then he puts it on the plate using both hands.
The person picks up the cabbage with both hands and puts it on the plate.
The person picks up the cabbage with both hands and puts it on the plate.
The person picks up the cabbage with two hands, looks at it carefully, and then puts it on the plate.
The person picks up the cabbage with two hands, looks at it carefully, and then puts it on the plate.
The person moves the trashcan to the left, then he takes the lemon with his right hand from his left hand, and finally he puts it in the trashcan.
The person moves the trashcan to the left, then he takes the lemon with his right hand from his left hand, and finally he puts it in the trashcan.
The person lifts the trashcan with both hands and shakes it, then puts the banana into it with his right hand.
The person lifts the trashcan with both hands and shakes it, then puts the banana into it with his right hand.
The person empties the trashcan to the left with his right hand, and then he uses his right hand to place the banana into it.
The person empties the trashcan to the left with his right hand, and then he uses his right hand to place the banana into it.
The person grabs the pepper,and puts it into the trashcan with his right hand.
The person grabs the pepper,and puts it into the trashcan with his right hand.
This person turns on the faucet, washes the pepper, and puts it on the plate to the left.
This person turns on the faucet, washes the pepper, and puts it on the plate to the left.
The person opens the faucet, washes the pepper, and uses his left hand to pick it up and place it on the plate in his right hand.
The person opens the faucet, washes the pepper, and uses his left hand to pick it up and place it on the plate in his right hand.
This person opens the faucet, washes the apple on the plate, then moves the plate to the left with his left hand and places the apple on the plate with his right hand.
This person opens the faucet, washes the apple on the plate, then moves the plate to the left with his left hand and places the apple on the plate with his right hand.
The person opens the faucet, washes the lemon, moves the plate with his left hand, and puts the lemon on it.
The person opens the faucet, washes the lemon, moves the plate with his left hand, and puts the lemon on it.
The individual washes the lemon with his left hand, turns off the faucet, picks up the plate with his right hand, and puts the lemon on the plate with his left hand.
The individual washes the lemon with his left hand, turns off the faucet, picks up the plate with his right hand, and puts the lemon on the plate with his left hand.
The person washes the lemon under the faucet, turns off the water, moves the knifeboard to the right under the faucet with his right hand, and places the lemon on the knifeboard with his left hand.
The person washes the lemon under the faucet, turns off the water, moves the knifeboard to the right under the faucet with his right hand, and places the lemon on the knifeboard with his left hand.
The person washes the lemon on the knifeboard under the faucet, then turns off the water, moves the knifeboard to the right with his right hand, and places the lemon on the knifeboard with his left hand.
The person washes the lemon on the knifeboard under the faucet, then turns off the water, moves the knifeboard to the right with his right hand, and places the lemon on the knifeboard with his left hand.
The person washes the lemon on the knifeboard under the faucet, turns off the water, moves the knifeboard to the left with his left hand, and places the lemon on the knifeboard with his right hand.
The person washes the lemon on the knifeboard under the faucet, turns off the water, moves the knifeboard to the left with his left hand, and places the lemon on the knifeboard with his right hand.
The person washes the pepper under the faucet, closes the faucet with his right hand, and moves the knifeboard to the left. Then, he places the pepper on the knifeboard.
The person washes the pepper under the faucet, closes the faucet with his right hand, and moves the knifeboard to the left. Then, he places the pepper on the knifeboard.
The individual moves the bowl to the right with his left hand and puts the apple in the bowl with his right hand.
The individual moves the bowl to the right with his left hand and puts the apple in the bowl with his right hand.
The person picks up the banana with his left hand and puts it in the bowl after a few attempts.
The person picks up the banana with his left hand and puts it in the bowl after a few attempts.
This person picks up the bowl, cleans it on the left side, and then puts the lemon in the bowl using his right hand.
This person picks up the bowl, cleans it on the left side, and then puts the lemon in the bowl using his right hand.
The individual picks up the lemon with his right hand and puts it in the bowl in front of him.
The individual picks up the lemon with his right hand and puts it in the bowl in front of him.
This person picks up the bowl with his right hand, then picks up the lemon with his left hand, and puts it in the bowl.
This person picks up the bowl with his right hand, then picks up the lemon with his left hand, and puts it in the bowl.
The individual puts the lemon down, cuts it on the knifeboard with a knife.
The individual puts the lemon down, cuts it on the knifeboard with a knife.
This person puts the lemon on the knifeboard, then picks up the knife with his right hand and cuts the lemon,finally puts it back to the table.
This person puts the lemon on the knifeboard, then picks up the knife with his right hand and cuts the lemon,finally puts it back to the table.
This person cleans the knife with his right hand and then cuts the lemon on the knifeboard.
This person cleans the knife with his right hand and then cuts the lemon on the knifeboard.
This person puts the cabbage on the knifeboard, then picks up the knife with his right hand and cuts the cabbage.
This person puts the cabbage on the knifeboard, then picks up the knife with his right hand and cuts the cabbage.
This person puts the cabbage on the knifeboard, then picks up the knife with his right hand and cuts the cabbage.
This person puts the cabbage on the knifeboard, then picks up the knife with his right hand and cuts the cabbage.
This person picks up the cabbage with his right hand and places it onto the knifeboard. Then, he cuts the cabbage using the knife held in his right hand.
This person picks up the cabbage with his right hand and places it onto the knifeboard. Then, he cuts the cabbage using the knife held in his right hand.
The person picks up the banana with both hands and places it on the knifeboard, then uses the right hand to cut the banana using a knife.
The person picks up the banana with both hands and places it on the knifeboard, then uses the right hand to cut the banana using a knife.
The person picks up the knife, moves the banana on the knifeboard to the right using the left hand, then cuts the banana with the knife in his right hand.
The person picks up the knife, moves the banana on the knifeboard to the right using the left hand, then cuts the banana with the knife in his right hand.
The person picks up the mug with his left hand, pours beer into it using his right hand, puts down the beer, and then drinks from the mug before setting it down.
The person picks up the mug with his left hand, pours beer into it using his right hand, puts down the beer, and then drinks from the mug before setting it down.
The person picks up the mug with his left hand, pours all the beer into it using his right hand, puts down the beer, and finally drinks from it before setting it down.
The person picks up the mug with his left hand, pours all the beer into it using his right hand, puts down the beer, and finally drinks from it before setting it down.
The person picks up the goblet with his left hand, pours beer into it using his right hand, sets down the beer, and then drinks from the goblet before setting it down.
The person picks up the goblet with his left hand, pours beer into it using his right hand, sets down the beer, and then drinks from the goblet before setting it down.
The person picks up the beer with his right hand, shakes it, pours it into the goblet, puts down the beer, and finally picks up the goblet with his left hand to drink from it before setting it down.
The person picks up the beer with his right hand, shakes it, pours it into the goblet, puts down the beer, and finally picks up the goblet with his left hand to drink from it before setting it down.
The person picks up the beer with his right hand, pours it into the teacup, puts down the beer, then picks up the teacup with his left hand to drink from it before setting it down.
The person picks up the beer with his right hand, pours it into the teacup, puts down the beer, then picks up the teacup with his left hand to drink from it before setting it down.
The person picks up the teacup with his left hand, pours beer into it using his right hand, sets down the beer, and then drinks from the teacup before setting it down.
The person picks up the teacup with his left hand, pours beer into it using his right hand, sets down the beer, and then drinks from the teacup before setting it down.
The person picks up the teacup with his left hand, pours all the beer into it using his right hand, puts down the teacup, and finally drinks from it before setting it down.
The person picks up the teacup with his left hand, pours all the beer into it using his right hand, puts down the teacup, and finally drinks from it before setting it down.
The person picks up the beer with his right hand, then pours it into both the teacup and the regular mug.
The person picks up the beer with his right hand, then pours it into both the teacup and the regular mug.
The person picks up the teacup with his left hand, shakes it, then picks up the beer with his right hand and pours it into the teacup. Finally, he pours the beer from the teacup into the mug.
The person picks up the teacup with his left hand, shakes it, then picks up the beer with his right hand and pours it into the teacup. Finally, he pours the beer from the teacup into the mug.
The person uses his right hand to pick up the beer and pour it into the mug. Then, he picks up the mug with his left hand and pours the beer into the teacup held in his right hand.
The person uses his right hand to pick up the beer and pour it into the mug. Then, he picks up the mug with his left hand and pours the beer into the teacup held in his right hand.
The person sits down and uses his right hand to pick up the beer and pour it into the goblet. Then, he shakes the goblet with his right hand and pours the beer into the mug in his left hand.
The person sits down and uses his right hand to pick up the beer and pour it into the goblet. Then, he shakes the goblet with his right hand and pours the beer into the mug in his left hand.
The person holds the beer with his left hand, opens the lid with his right hand, drinks the beer, and finally puts it in the trashcan.
The person holds the beer with his left hand, opens the lid with his right hand, drinks the beer, and finally puts it in the trashcan.
The person holds the beer with both hands, stands up, and puts it in the trashcan.
The person holds the beer with both hands, stands up, and puts it in the trashcan.
The person moves the trashcan with his left hand, then picks up the bottle with his right hand, and places it in the trashcan.
The person moves the trashcan with his left hand, then picks up the bottle with his right hand, and places it in the trashcan.
The person holds the trashcan with both hands and tilts it to the right to empty it, then shakes the bottle with his right hand and places it in the trashcan.
The person holds the trashcan with both hands and tilts it to the right to empty it, then shakes the bottle with his right hand and places it in the trashcan.
The person holds the teacup with his left hand to clean it, then holds the teapot with his right hand and pours tea into the teacup.
The person holds the teacup with his left hand to clean it, then holds the teapot with his right hand and pours tea into the teacup.
The person picks up the teacup with his right hand, the teapot with his left hand, and pours tea into the teacup. Then, he drinks from the teacup.
The person picks up the teacup with his right hand, the teapot with his left hand, and pours tea into the teacup. Then, he drinks from the teacup.
The person picks up the goblet with his right hand, the teapot with his left hand, and pours tea into the goblet. Then, he drinks from the tall glass.
The person picks up the goblet with his right hand, the teapot with his left hand, and pours tea into the goblet. Then, he drinks from the tall glass.
The person holds the teapot with his left hand and pours tea into the goblet with the assistance of his right hand.
The person holds the teapot with his left hand and pours tea into the goblet with the assistance of his right hand.
The person picks up the mug with his left hand and simultaneously picks up the bottle with his right hand to pour water into the mug, then he places both down.
The person picks up the mug with his left hand and simultaneously picks up the bottle with his right hand to pour water into the mug, then he places both down.
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Multi-Object HOI v2

Processed multi-object human-object interaction dataset for motion generation, derived from HIMO.

Overview

Metric Value
Source dataset HIMO
Total sequence pairs 6,752 (3,376 sequences x 2 objects)
Unique objects 53
Unique object pairs 145
Total frames ~1M
Frame range per seq 37 - 944 (mean 302)
Motion format InterAct-compatible [T-1, 962]

Data Format

Each sequence directory contains:

himo_{seq_id}_obj{1,2}/
  motion.npy    # [T-1, 962] float32 - motion representation
  object.npz    # {angles: [T-1,3], trans: [T-1,3], name: str}
  text.txt      # text description of the interaction

Motion Representation (motion.npy)

Following the InterAct format:

Component Dims Range Description
Human 0:476
Marker positions 0:231 77 markers x 3 SMPL-X surface markers
Marker velocities 231:462 77 markers x 3 Frame-to-frame deltas
Left foot heights 462:469 7 markers Y-coordinates of left foot markers
Right foot heights 469:476 7 markers Y-coordinates of right foot markers
Object 476:962
Rotation 6D 476:482 6 Continuous rotation representation
Translation 482:485 3 Object position (meters)
Rotation velocity 485:491 6 Rot6d + trans delta
Translation velocity 491:494 3 Translation delta
Contact data 494:962 78 x 6 = 468 Per-marker contact vectors to closest object point

Object Data (object.npz)

  • angles: [T-1, 3] - axis-angle rotation
  • trans: [T-1, 3] - translation in meters
  • name: object name (e.g., "Apple", "Plate")

Processing Pipeline

Raw HIMO data was converted using the following pipeline:

  1. SMPL-X forward pass: Load SMPL-X parameters (body_pose, hand_pose, global_orient, transl, betas) and run forward kinematics to get vertices
  2. Marker extraction: Extract 77 surface markers from SMPL-X vertices using InterAct's marker set indices
  3. Floor alignment: Subtract minimum Y coordinate to place feet on ground
  4. Human representation: Compute marker positions (231d), velocities (231d), and foot heights (14d) = 476d
  5. Object representation: Convert rotation matrices to 6D representation, compute velocities, and detect contacts between human markers and sampled object surface points = 486d
  6. Contact detection (GPU-accelerated): For each of 78 points (77 markers + ground), find closest object surface point and store contact vector + canonical point = 468d

Source Data

Citation

If you use this dataset, please cite:

@article{lv2024himo,
  title={HIMO: A New Benchmark for Full-Body Human Interacting with Multiple Objects},
  author={Lv, Xintao and Huang, Liang and others},
  year={2024}
}

@inproceedings{xu2025interact,
  title={InterAct: Advancing Large-Scale Versatile 3D Human-Object Interaction Generation},
  author={Xu, Sirui and Li, Dongting and Zhang, Yucheng and others},
  booktitle={CVPR},
  year={2025}
}
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