| KIT Whole-Body Human Motion Database

The KIT Bimanual Manipulation Dataset

With the KIT Whole-Body Human Motion Database, we aim to provide a simple way of sharing high-quality motion capture recordings of human whole-body motion. The database is run by the High Performance Humanoid Technology (H²T) Lab.

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Created:July 16, 2021, 1:20 p.m. by andre
Modified:Jan. 10, 2024, 3:03 p.m. by meixner_andre
Write Groups:KIT
Read Protected Groups:KIT
Name:The KIT Bimanual Manipulation Dataset
Comment:Abstract— Learning models of bimanual manipulation tasks from human demonstration requires capturing human body and hand motions, as well as the objects involved in the demonstration, to provide all the information needed for learning manipulation task models on symbolic and subsymbolic level. We provide a new multi-modal dataset of bimanual manipulation actions consisting of accurate human whole-body motion data, full configuration of both hands, and the 6D pose and trajectories of all objects involved in the task. The data is collected using five different sensor systems: a motion capture system, two data gloves, three RGB-D cameras, a head-mounted egocentric camera and three inertial measurement units (IMUs). The dataset includes 12 actions of bimanual daily household activities performed by two healthy subjects with a large number of intra-action variations and three repetitions of each action variation, resulting in 588 recorded demonstrations. A total of 21 household items are used to perform the various actions. In addition to the data collection, we developed tools and methods for the standardized representation and organization of multi-modal sensor data in large-scale human motion databases. We extended our Master Motor Map (MMM) framework to allow the mapping of collected demonstrations to a reference model of the human body as well as the segmentation and annotation of recorded manipulation tasks. The dataset includes raw sensor data, normalized data in the MMM format and annotations, and is made publicly available in the KIT Whole-Body Human Motion Database.
Release:July 19, 2021, midnight
Paper:Krebs, F., Meixner, A., Patzer, I. and Asfour, T., The KIT Bimanual Manipulation Dataset, IEEE/RAS International Conference on Humanoid Robots (Humanoids), July, 2021
Bibtex:@INPROCEEDINGS {KrebsMeixner2021,
author = {Franziska Krebs and Andre Meixner and Isabel Patzer and Tamim Asfour},
title = {The {KIT} {B}imanual {M}anipulation {D}ataset},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {499--506},
year = {2021}

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Created File Name File Type Description Visibility Actions
March 7, 2022, 3:10 p.m.
KIT_BMD_Documentation.pdf More detailed documentation beyond the publication is still in progress PUBLIC Download
July 16, 2021, 2:15 p.m.
KIT_BMD.png Image PUBLIC Download

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