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

HiPHI is a 617.5-hour whole-body human motion dataset captured with optical motion capture at sub-millimeter accuracy, including 245.7 hours of human-object interaction with synchronized object trajectories and meshes.

The dataset organizes coverage using FrameNet, a linguistic framework for human action. The white paper also reports results from policies trained on HiPHI and deployed on a physical Unitree G1 humanoid robot.