OriginData is the world's first large-scale, real-world dataset combining hand pose and force annotations. Spanning 28 domains and 1,170 real-world tasks, it captures how human hands interact with the physical world, providing force, pose, and semantic annotations supported by high-precision multimodal calibration for embodied AI.

This preview contains 100.62 hours across 7,717 episodes, delivered in LeRobot v3.0 format with stereo RGB video, hand pose, head trajectories, finger-force estimates, and hierarchical language annotations.

Key Highlights

Real-world diversity. Real people performing complete manipulation workflows across everyday life, commercial services, crafts, and industrial assembly.
Force. The OriginData EGO+EMG pipeline fuses egocentric binocular vision, 16-channel surface EMG, and IMU to derive hand pose and per-finger force, with cross-modal validation.
High-precision annotations. The capture and fusion pipeline reports synchronization within 3 ms, joint-angle MAE of 3.37°, finger-joint distance error of 4.2 mm, and force magnitude error within 20%.

Video previews

Wrapping Plates and Food with Plastic Wrap Residential Living · Home	Adding Promotion Tags to Instant Noodle Shelves Retail · Supermarket	Packing Drinks for Pickup Food & Beverage · Café	Organizing Sanitized Tableware Food & Beverage · Cafeteria	Buttoning a Shirt Residential Living · Home
Organizing Markers Education · School	Organizing Yogurt Shelves Retail · Supermarket	Organizing Takeout Bags Food & Beverage · Café	Organizing Jump Ropes Sports · Gym	Packing Oden Retail · Convenience Store
Preparing a Drink Food & Beverage · Café	Packing a Parcel for Shipping Manufacturing · Packing Workshop	Organizing Miscellaneous Items Education · School	Applying Promotional Labels Retail · Supermarket	Processing Fiber-Optic Components Manufacturing · Workshop
Organizing Documents Office · Workplace	Frothing Milk Food & Beverage · Café	Assembling a Circuit Board Manufacturing · Electronics Assembly	Demonstrating Infant Massage Techniques Personal Services · Home Care	Repairing a Mobile Phone Personal Services · Electronics Repair

Preview Overview

Attribute	Value
Duration	100.62 hours
Episodes	7,717
Frames	10,867,077
Frame rate	Approximately 30 FPS
Task descriptions	3,323
Format	LeRobot v3.0 with multimodal extensions

Modalities

Modality	Description	Key fields
Stereo video	Left and right RGB streams; MP4 / H.264, nominally 1920 × 1080 per view	`observation.images.head_left`, `observation.images.head_right`
Hand pose	Each hand has 21 3D joints in the supplier camera frame, measured in meters. `{side}` is `left` or `right`.	`observation.hand.{side}.joints_3d_camera_m`
Head trajectory	Head position and orientation are expressed in the local SLAM world frame. The orientation quaternion is ordered `x, y, z, w`.	`observation.head.position_in_slam_world`, `observation.head.orientation_in_slam_world_xyzw`
Finger-force annotations	Five scalar channels per hand, ordered from thumb to little finger, in mN; estimated by Fusion2Force	`left.force_values`, `right.force_values`
Language annotations	Episode, subtask, and atomic-action descriptions with temporal boundaries	`tasks`, `language_persistent`, `semantic_events_json`

Timestamps, episode and frame indices, and pose and force validity indicators are also provided.

Download

The Dataset Viewer defaults to four representative LeRobot Parquet shards, one from each data chunk. To load every LeRobot data shard with datasets, choose the full_parquet configuration:

from datasets import load_dataset

frames = load_dataset("OriginFlow-AI/origindata-preview-sample", name="full_parquet", split="train")

The dataset is hosted on Hugging Face.

pip install -U huggingface_hub

# Download the complete dataset
hf download "OriginFlow-AI/origindata-preview-sample" --repo-type dataset --local-dir ./origindata-preview-sample

To explore feature definitions, task descriptions, and episode metadata first:

# Download metadata only
hf download "OriginFlow-AI/origindata-preview-sample" --repo-type dataset --include "meta/*" --local-dir ./origindata-preview-sample

Data is provided in LeRobot v3.0 format, with Parquet features, MP4 videos, and multimodal extensions.

Analysis

Real-world coverage. OriginData spans 28 domains, 1,170 real-world tasks. The ring below illustrates the preview source collection through 51 individual scene/task entries; segment sizes reflect source duration.

Episode duration. Episodes average 46.94 seconds, with a median of 31.97 seconds and a range of 0.47–518.29 seconds.

Language coverage. The dataset contains 26,117 subtask annotations and 101,445 atomic-action annotations. All episodes include subtask annotations; 7,654 episodes (99.18%) include atomic-action annotations.

Usage Notes

This preview provides model-derived finger-force annotations as five scalar channels per hand.
Some clips contain occlusion, hands leaving the frame, missing poses, scene transitions, or privacy masks. Use detected, force_valid, and *_validation fields to filter samples.
Poses retain the original camera coordinate conventions and joint ordering.

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Total file size:

475 GB

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OriginData (preview sample)