| --- |
| pretty_name: origindata-preview-sample |
| task_categories: |
| - robotics |
| tags: |
| - LeRobot |
| - egocentric |
| - human-manipulation |
| - multimodal |
| - hand-pose |
| - video |
| - text |
| - timeseries |
| --- |
| |
| # OriginData (preview sample) |
|
|
| 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 |
|
|
| <table> |
| <tr> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-07-46-103Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 1</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-07-46-103Z.mp4">Open</a></td> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-08-42-859Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 2</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-08-42-859Z.mp4">Open</a></td> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-10-48-158Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 3</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-10-48-158Z.mp4">Open</a></td> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-11-58-998Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 4</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-11-58-998Z.mp4">Open</a></td> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-13-11-834Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 5</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-13-11-834Z.mp4">Open</a></td> |
| </tr> |
| <tr> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-15-45-847Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 6</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-15-45-847Z.mp4">Open</a></td> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-16-52-265Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 7</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-16-52-265Z.mp4">Open</a></td> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-17-32-546Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 8</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-17-32-546Z.mp4">Open</a></td> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-21-19-957Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 9</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-21-19-957Z.mp4">Open</a></td> |
| <td align="center" width="20%"><video src="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-29-10-638Z.mp4" controls preload="metadata" playsinline width="100%"></video><br><strong>Sample clip 10</strong> · <a href="https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample/resolve/main/assets/lerobot-qc-dataset-force-corrected-14ep-20260929-2026-09-30T05-29-10-638Z.mp4">Open</a></td> |
| </tr> |
| </table> |
| |
| ## 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 is hosted on [Hugging Face](https://huggingface.co/datasets/OriginFlow-AI/origindata-preview-sample). |
|
|
| ```bash |
| 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: |
|
|
| ```bash |
| # 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. |
|
|
