---
license: other
pretty_name: OSCAR_human
language: ["en"]
task_categories: ["robotics", "other"]
tags:
  - oscar
  - world-model
  - skeleton-conditioned
size_categories:
  - n>10K
---

# OSCAR_human

**OSCAR companion data — egocentric-human split.**

This repository hosts the **egocentric-human** half of the training corpus for **OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics**, a precise action-conditioned video world model for cross-embodiment robot policy evaluation. It holds egocentric human-manipulation episodes (MANO hand) that we curated, filtered, deduplicated, and re-rendered into OSCAR's unified conditioning format — the same as the robot split: a rendered MANO-skeleton overlay aligned to the original RGB, an OSCAR-generated caption, and numeric per-frame metadata. Human video adds scene and motion diversity that robot teleoperation alone does not provide. Two upstream sources (EgoDex, VITRA/Epic-Kitchens); all clips are 70 frames. The robot split lives in [`zywu2115/OSCAR_robot`](https://huggingface.co/datasets/zywu2115/OSCAR_robot).

- **Paper:** [OSCAR: Omni-Embodiment Action-Conditioned World Model for Robotics](https://arxiv.org/abs/2606.04463)
- **Authors:** Zhuoyuan Wu (Peking University), Jun Gao (University of Michigan; NVIDIA).
- **Project page:** https://wuzy2115.github.io/oscar-project-page/

## Per-subset license

| Subset | Upstream license | Notes |
|--------|------------------|-------|
| `egodex` | CC-BY-NC-ND-4.0 | ⚠️ NC |
| `vitra_epic` | CC-BY-NC-4.0 | ⚠️ NC |


## What's inside

Total episodes: 85827

- `egodex`: 78273 episodes — EgoDex: Egocentric Dexterous Manipulation
- `vitra_epic`: 7554 episodes — VITRA/Epic-Kitchens Egocentric Hand Manipulation


## Why no `rgb.mp4`?

Upstream RGB videos are subject to each upstream dataset's license (see the per-subset table above). To respect each upstream's distribution terms, we redistribute only our derived artifacts: the rendered skeleton overlay, the captions we generated, and the numeric episode metadata.

To recover RGB frames, see [Mapping back to upstream](#mapping-back-to-upstream).

## Dataset structure

```
<root>/
├── egodex/
│   └── ...episode dirs, each containing:
│       ├── caption.pickle            # OSCAR-generated
│       ├── episode_meta.npz          # numeric meta (see schema below)
│       └── skeleton_scenario.mp4            # OSCAR-rendered skeleton overlay
├── vitra_epic/
│   └── ...episode dirs, each containing:
│       ├── caption.pickle            # OSCAR-generated
│       ├── episode_meta.npz          # numeric meta (see schema below)
│       └── skeleton_scenario.mp4            # OSCAR-rendered skeleton overlay

```

## Per-file schema

### `caption.pickle`
Pickle dict with keys: `text` (str), `model` (str, our caption model id), `version` (str).

### `episode_meta.npz`

| Field | Shape | Dtype | Origin | Semantics |
|-------|-------|-------|--------|-----------|
| `joint_positions_3d` | (T, J, 3) | float64 | OSCAR-derived from upstream | SMPL-X / MANO FK applied to upstream pose params |
| `camera_intrinsic` | (3, 3) | float64 | upstream passthrough | pinhole K |
| `camera_extrinsic` | (T, 4, 4) | float64 | upstream passthrough | per-frame head-mounted camera pose |
| `camera_is_per_frame` | () | bool | OSCAR bookkeeping | True for human (always) |
| `visible` | (T,) | bool | OSCAR-generated | per-frame visibility flag from our filter |


### `skeleton_scenario.mp4`
H.264 (libx264), frame-count matches the (deleted) `rgb.mp4`. Contains the OSCAR-rendered skeleton overlay. Per-link / per-finger color conventions follow OSCAR's internal `skeleton_def.py`.

## Filters applied

human filters: `min_frames=70`, `min_visible_ratio=0.3`, `min_hand_motion=0.005`

## Mapping back to upstream

Episodes here preserve the upstream's relative paths and episode identifiers (with one caveat per subset).

1. Identify the subset (top-level directory).
2. Match the relative path against the upstream release.
   - See each subset README for the exact naming convention and the upstream download link.
3. Download the upstream raw to fetch RGB and align with our skeleton render.

We plan to release a helper script that automates upstream-raw download + RGB alignment in a follow-up release. Until then, please follow the per-subset instructions linked below.

## License

Each subset inherits its upstream license. See the subset README for canonical license text.