Dataset · Hugging Face

lightcone02/OmniContact-Dataset

Name: OmniContact-Dataset
Creator: lightcone02
License: cc-by-nc-4.0
Keywords: task_categories:robotics, task_categories:reinforcement-learning, language:en, license:cc-by-nc-4.0, size_categories:1K<n<10K, arxiv:2606.26201, region:us, robotics, motion-capture, humanoid, human-object-interaction, contact-rich-manipulation, robot-learning, box, soccer

OmniContact Dataset: Contact-Rich Humanoid Object Interaction Project Page OmniContact contains human-object interaction motion capture, processed Unitree G1 trajectories, and motion clips for contact-rich box manipulation and soccer interactions. This release contains 690 processed source trajectories and 2,231 clips. Every source NPZ has exactly one retained raw mocap capture and one portable BVH cache entry. Matched Task Previews Carry box… See the full description on the dataset page: https://huggingface.co/datasets/lightcone02/OmniContact-Dataset.

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Author / organization	lightcone02
License (as declared)	cc-by-nc-4.0
Downloads	7K (as reported by Hugging Face)
Likes	16
Created	24 June 2026
Last updated at source	25 August 2026

roboticsmotion-capturehumanoidhuman-object-interactioncontact-rich-manipulationrobot-learningboxsoccer

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