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OHRID-Retail: An Open Multimodal Dataset of Human Activity in Retail Environments

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Open datasets describing human behavior in environments shared with mobile robots remain limited, particularly for retail activities that combine locomotion, reaching, object handling, and robot guided movement. This paper introduces OHRID Retail, an open, human centered multimodal dataset collected from 16 healthy adults performing a simulated shelf picking task under three within participant conditions: no robot, low speed robot guidance, and high speed robot guidance. Each participant completed two trials per condition. Whole body kinematics were recorded using 17 Xsens Awinda inertial sens

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