IV. Human Embodiment Resources

Human experience and physical-control resources that connect observed behavior with embodied execution.

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--- ## IV.1 Human Data for Embodied AI *Human demonstrations and interaction experience organized as supervision for embodied learning.* | Resource | Type | Venue | Paper | Paper Page | Website | |---|:---:|:---:|---|:---:|:---:| | RoboTok | Dataset + Benchmark | arXiv 2026 | RoboTok: An Internet-Scale Data Engine for Human Demonstration Retrieval and Dexterous Manipulation Learning | [:page_facing_up:](https://arxiv.org/abs/2609.03199 "Paper page") | [:house:](https://rice-robotpi-lab.github.io/RoboTok/ "Homepage") [:octocat:](https://github.com/Rice-RobotPI-Lab/RoboTok-Code "GitHub") [🤗](https://huggingface.co/Rice-RobotPI-Lab/robotok-public "Hugging Face") | | HandEdit | Benchmark | arXiv 2026 | HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editing | [:page_facing_up:](https://arxiv.org/abs/2608.12122 "Paper page") | [:octocat:](https://github.com/HandEdit/HandEdit "GitHub") [:house:](https://handedit.github.io/ "Homepage") [🤗](https://huggingface.co/datasets/HandEdit/HandEdit-Full "Hugging Face") | | ACE-Data-0 | Dataset | arXiv 2026 | ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine | [:page_facing_up:](https://arxiv.org/abs/2607.28625 "Paper page") | [:house:](https://ace-data-engine.github.io/ACE-Data-0/ "Homepage") | | WatchAct | Benchmark | arXiv 2026 | WatchAct: A Benchmark for Behavior-Grounded Robot Manipulation | [:page_facing_up:](https://arxiv.org/abs/2606.26443 "Paper page") | [:octocat:](https://github.com/Baiqi-Li/WatchAct "GitHub") | | EgoLive | Dataset + Benchmark | arXiv 2026 | EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks | [:page_facing_up:](https://arxiv.org/abs/2604.23570 "Paper page") | - | | HRDexDB | Dataset + Benchmark | arXiv 2026 | HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps | [:page_facing_up:](https://arxiv.org/abs/2604.14944 "Paper page") | [:octocat:](https://github.com/snuvclab/HRDexDB "GitHub") | | EgoVerse | Dataset | arXiv 2026 | EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World | [:page_facing_up:](https://arxiv.org/abs/2604.07607 "Paper page") | [:octocat:](https://github.com/GaTech-RL2/EgoVerse "GitHub") | | EgoDex | Dataset | ICLR 2026 | EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video | [:page_facing_up:](https://arxiv.org/abs/2505.11709 "Paper page") | [:octocat:](https://github.com/apple/ml-egodex "GitHub") | | Hoi! | Dataset | CVPR 2025 | Hoi!-A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation | [:page_facing_up:](https://arxiv.org/abs/2512.04884 "Paper page") | [:octocat:](https://github.com/timengelbracht/hoi-dataset-tools "GitHub") | | Human0 / PHSD | Dataset + Benchmark | arXiv 2025 | In-N-On: Scaling Egocentric Manipulation with In-the-Wild and On-task Data | [:page_facing_up:](https://arxiv.org/abs/2511.15704 "Paper page") | [:house:](https://xiongyicai.github.io/In-N-On "Homepage") | | OpenEgo | Dataset | arXiv 2025 | OpenEgo: A Large-Scale Multimodal Egocentric Dataset for Dexterous Manipulation | [:page_facing_up:](https://arxiv.org/abs/2509.05513 "Paper page") | [:house:](https://www.openegocentric.com "Homepage") | | DexH2R | Dataset + Benchmark | ICCV 2025 | DexH2R: A Benchmark for Dynamic Dexterous Grasping in Human-to-Robot Handover | [:page_facing_up:](https://arxiv.org/abs/2506.23152 "Paper page") | [:octocat:](https://github.com/4DVLab/DexH2R "GitHub") |

--- ## IV.2 Physical Humanoid Control *Resources for evaluating physically feasible, stable, and human-like humanoid behavior.* | Resource | Type | Venue | Paper | Paper Page | Website | |---|:---:|:---:|---|:---:|:---:| | HiPHI | Dataset + Benchmark | arXiv 2026 | HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interaction | [:page_facing_up:](https://arxiv.org/abs/2608.16222 "Paper page") | [:house:](https://noitom-robotics.github.io/hiphi/ "Homepage") [:octocat:](https://github.com/noitom-robotics/hiphi "GitHub") [🤗](https://huggingface.co/datasets/noitomrobotics/HiPHI "Hugging Face") | | HumanTracker | Benchmark | ECCV 2026 | HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark | [:page_facing_up:](https://arxiv.org/abs/2608.13555 "Paper page") | [:octocat:](https://github.com/GalaxyGeneralRobotics/HumanTracker "GitHub") [:house:](https://dairuliu.github.io/humantracker "Homepage") [🤗](https://huggingface.co/datasets/dairuliu/HumanTracker "Hugging Face") | | HHMotion | Dataset + Benchmark | CVPR 2026 | Towards Motion Turing Test: Evaluating Human-Likeness in Humanoid Robots | [:page_facing_up:](https://openaccess.thecvf.com/content/CVPR2026/html/Li_Towards_Motion_Turing_Test_Evaluating_Human-Likeness_in_Humanoid_Robots_CVPR_2026_paper.html "Paper page") | [:house:](http://www.lidarhumanmotion.net/mtt/ "Homepage") | | PHUMA | Dataset | arXiv 2025 | PHUMA: Physically-Grounded Humanoid Locomotion Dataset | [:page_facing_up:](https://arxiv.org/abs/2510.26236 "Paper page") | [:octocat:](https://github.com/davian-robotics/PHUMA "GitHub") [:house:](https://davian-robotics.github.io/PHUMA/ "Homepage") |

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