HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction

Key points

The full dataset contains 617.5 hours, split into 371.8 hours of full-body motion and 245.7 hours of object interaction, with about 200 million frames, 22 FrameNet categories, and 214 fine-grained motion tags.
For object interaction, it uses 40 real objects across 12 types, with weights from 0.45 kg to 6.25 kg, and object trajectories are synchronized with 3D models.
It samples up to 5,000 one-second clips from each dataset for comparison. HiPHI covers 1,620 motion-space cells versus 1,438 for BONES-SEED, and its rare-region share is 14.1% versus 10.7%.
When comparing datasets with the same floor reference, the floor penetration depth is 8 mm. The non-overlap rate between the object and the person is 98.1%, and the fraction with the person within 20 cm of the object surface is 95.7%.
In a Unitree G1 full-body tracking experiment matched to 3 hours and 20 hours of data, it showed the highest success rate. Exact numbers are not given in the figures, the real-robot results are presented mainly as case videos, and the full dataset was still planned for release at the time of writing.

External research summaries. These are not HDATF publications or measured product results.