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EgoHTR: Egocentric 4D Human-Terrain Demonstrations

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EgoHTR captures 55 scene-aligned 4D human-terrain sequences with egocentric wearables and a portable 3D scanner, totaling over 150k frames and supporting Unitree G1 locomotion policies.

Egocentric 4D DatasetHuman Motion CaptureTerrain TraversalScene ReconstructionMultimodal DatasetHumanoid LocomotionPerceptive LocomotionUnitree G1ETH ZurichCoRL 2026EgoHTRPerception and motion
Category: research
Author: @leggedrobotics
Date: 2026-09-15T00:00:00
Duration: 125.643s
Source: https://x.com/leggedrobotics/status/2099851049360126110
Reference: https://arxiv.org/abs/2607.13472

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