HumanEgo HumanEgo: Zero Shot Robot Learning from Minutes of Human Egocentric Videos 🌐 Website · 📄 Paper · 💻 Code · 🎥 Visualization Gallery Dataset Summary HumanEgo is a dataset of human egocentric manipulation videos recorded with Project Aria (Gen 1) glasses, paired with Meta MPS annotations (SLAM trajectories + hand tracking) and the full HumanEgo preprocessing output — per frame RGB, object/arm segmentation, 3D hand & object tracking, and ready to train per frame targets. It supports learning manipulation policies from only minutes of human video (see the paper). Each recording is a short (~30 s), single task manipulation clip. The dataset ships both the raw inputs (reproduce everything yourself) and the precomputed outputs (skip the GPU pipeline). At a Glance Tasks 2 — serve bread , water flowers Recordings 122 (61 + 61) Total size ~238 GB Sensor Project Aria Gen 1 — RGB (30 fps, 2 MP), SLAM (VGA), IMU / Baro / Mag / GPS Annotations MPS closed/open loop trajectory, semidense points, online calibration, hand tracking Preprocessing object/arm masks, CoTracker tracks, 3D triangulation, arm inpainted RGB, per frame training data.json 🎥 Brows…
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