HABIT: Human Aware Behavior and Interaction Training Dataset for Robot Manipulation ⚠️ Anonymous release. Authors and institutional information are intentionally withheld. This dataset card will be updated when these details become available. TL;DR: HABIT is a large scale robot demonstration dataset for human present environments, designed to teach robot policies human aware behaviors. Keywords: Robot Manipulation Dataset, Human Robot Interaction, Vision Language Action Model Overview Recent progress in general purpose robot policies has been driven by large scale demonstration datasets. However, existing datasets are collected almost exclusively in human absent settings , with the robot acting as the sole agent in the workspace. As a result, policies trained on such data may execute tasks competently in isolation but cannot acquire human aware behaviors such as yielding to a reaching hand, handing over an object, or following a pointing gesture. These behaviors are not merely hard to learn. They are structurally absent from the data, because they cannot be demonstrated without a human in the scene. HABIT addresses this gap by providing a large scale robot demonstration dataset whe…
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