This site provides a dataset of human grasping movements in unstructured environments. More than 27 hours of video with grasp, object, and task data from two housekeepers and two machinists are available. Please see the papers below for more in-depth information.

The dataset is presented in:

I. M. Bullock, T. Feix, A. M. Dollar
"The Yale Human Grasping Data Set: Grasp, Object and Task Data in Household and Machine Shop Environments," International Journal of Robotics Research, in press.

Data download

Video, images, and tagged grasp, object, and task data are available.

Please enter the following information in order to download the data files. By downloading any files, you agree to use the dataset for academic purposes. Source code is provided under the MIT License and the .csv tagged data is available under a CC BY 4.0 license.

However, we maintain full copyright rights for the video and image data. We encourage free use of the images and video for research purposes only, and permission from the authors should be obtained before distributing any images or video. We will grant distribution permission for any reasonable research usage, but please still ask us.

Intended purpose:
By checking this box, I assert that I will use the images and video for research purposes only. I will not distribute the images or video without permission of the authors.

Publications based on the Dataset

A set of publications based on the dataset are listed below. If you also used the dataset, let us know and we can add your publication here.

I. M. Bullock, J. Z. Zheng, S. D. L. Rosa, C. Guertler, and A. M. Dollar
"Grasp Frequency and Usage in Daily Household and Machine Shop Tasks,"
IEEE Transactions on Haptics, vol. 6, no. 3, pp. 296-308, Jul. 2013.

I. M. Bullock, T. Feix, and A. M. Dollar
"Finding Small, Versatile Sets of Human Grasps to Span Common Objects,"
in IEEE International Conference on Robotics and Automation, May 2013, pp. 1068-1075.

T. Feix, I. M. Bullock, and A. M. Dollar
"Analysis of Human Grasping Behavior: Object Characteristics and Grasp Type,"
IEEE Transactions on Haptics, vol 7, no. 3, pp. 311-323, Jul. 2014.

T. Feix, I. M. Bullock, and A. M. Dollar
"Analysis of Human Grasping Behavior: Correlating Tasks, Objects and Grasps,"
IEEE Transactions on Haptics, in press. DOI: 10.1109/TOH.2014.2326867


Ian Bullock, ian[dot]bullock[at]
Thomas Feix, thomas[dot]feix[at]
Aaron Dollar, aaron[dot]dollar[at]