Terms of Use

Image Data

All RGB-D data (that is, all RGB or depth images offered for download on this homepage) can be freely used for scientific purposes only.

Annotations & Derived Data

The annotations and all derived data offered for download on this homepage are licensed under a Creative Commons CC0 1.0 License (Public Domain Dedication).



If you use the KIT Bimanual Actions Dataset, please consider citing our corresponding work.

  author  = {Dreher, Christian R. G. and W├Ąchter, Mirko and Asfour, Tamim},
  title   = {Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks},
  journal = {IEEE Robotics and Automation Letters (RA-L)},
  year    = {2020},
  number  = {1},
  pages   = {187--194},
  volume  = {5},
  doi     = {10.1109/LRA.2019.2949221},