Dataset release announcement: FEEL is now available on Hugging Face. We’re sorry for the delay in sharing it sooner, and we appreciate your patience.
Open the FEEL dataset on Hugging Face

FEEL: Force-Enhanced Egocentric Learning for Physical Action Understanding

Eadom Dessalene, Botao He, Michael Maynord, Yonatan Tussa, Pavan Mantripragada, Yianni Karabatis, Nirupam Roy, Yiannis Aloimonos

University of Maryland, College Park

ECCV 2026 (oral presentation)

Paper Dataset

About FEEL

FEEL is a large-scale egocentric dataset pairing synchronized video with force measurements from custom piezoresistive gloves. It is built for studying contact understanding and action representation learning from physically grounded signals in natural manipulation settings.

Sample videos from each participant

Kitchen videos

Kitchen / P01

P01_both_hands_1146.3s_1166.3s_hud.mp4

Kitchen / P02

P02_both_hands_732.6s_752.6s_hud.mp4

Kitchen / P03

P03_both_hands_289.8s_309.8s_hud.mp4

Kitchen / P04

P04_both_hands_1505.9s_1525.9s_hud.mp4

Kitchen / P06

P06_both_hands_2166.2s_2186.2s_hud.mp4

Kitchen / P07

P07_both_hands_1577.1s_1597.1s_hud.mp4

Kitchen / P08

P08_both_hands_1042.6s_1062.6s_hud.mp4

Kitchen / P09

P09_both_hands_1607.3s_1627.3s_hud.mp4

Kitchen / P10

P10_both_hands_880.4s_900.4s_hud.mp4

Kitchen / P12

P12_both_hands_315.8s_335.8s_hud.mp4

Kitchen / P13

P13_both_hands_1003.9s_1023.9s_hud.mp4

Lab videos

Lab / P1

P1_right_hand_214.1s_234.1s_hud.mp4

Lab / P10

P10_right_hand_528.5s_548.5s_hud.mp4

Lab / P11

P11_right_hand_1081.4s_1101.4s_hud.mp4

Lab / P12

P12_right_hand_608.4s_628.4s_hud.mp4

Lab / P13

P13_right_hand_889.4s_909.4s_hud.mp4

Lab / P14

P14_right_hand_761.0s_781.0s_hud.mp4

Lab / P15

P15_right_hand_303.4s_323.4s_hud.mp4

Lab / P16

P16_right_hand_610.4s_630.4s_hud.mp4

Lab / P17

P17_right_hand_167.7s_187.7s_hud.mp4

Lab / P18

P18_right_hand_192.6s_212.6s_hud.mp4

Lab / P19

P19_right_hand_103.6s_123.6s_hud.mp4

Lab / P2

P2_right_hand_513.4s_533.4s_hud.mp4

Lab / P3

P3_right_hand_673.6s_693.6s_hud.mp4

Lab / P5

P5_right_hand_446.8s_466.8s_hud.mp4

Lab / P6

P6_right_hand_551.6s_571.6s_hud.mp4

Lab / P7

P7_right_hand_657.0s_677.0s_hud.mp4

Lab / P8

P8_right_hand_267.6s_287.6s_hud.mp4

Lab / P9

P9_right_hand_578.5s_598.5s_hud.mp4

Citation

@article{dessalene2026feel, title={FEEL: Force-Enhanced Egocentric Learning for Physical Action Understanding}, author={Dessalene, Eadom and He, Botao and Maynord, Michael and Tussa, Yonatan and Mantripragada, Pavan and Karabatis, Yianni and Roy, Nirupam and Aloimonos, Yiannis}, journal={ECCV}, year={2026} }