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

Xiangrui Wang, Yuetong Wu, Jalen Beeman, Robert Cook, Yu Gu, Nathanial Pearson, Trevor Smith, Read Hayes, Boyi Hu · N/A · 2026

Summary

Abstract Summary

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 sensors and muscle activity was measured at 10 locations using Delsys Trigno surface electromyography sensors. Descriptive analyses demonstrate variation in whole body movement intensity and muscle activation across robot interaction conditions and body locations. OHRID Retail provides openly available raw recordings, processed measures, documentation, and reproducible analysis resources. The dataset can support research in human activity recognition, multimodal sensor fusion, occupational biomechanics, ergonomics, human aware robot navigation, and human robot interaction in retail and related shared environments.

Key Points

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 sensors and muscle activity was measured at 10 locations using Delsys Trigno surface electromyography sensors.
Descriptive analyses demonstrate variation in whole body movement intensity and muscle activation across robot interaction conditions and body locations.

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

|Authors: Xiangrui Wang, Yuetong Wu, Jalen Beeman, Robert Cook, Yu Gu, Nathanial Pearson, Trevor Smith, Read Hayes, Boyi Hu

|Venue: arXiv preprint | Year: 2026

|arXiv: 2609.19302

Abstract

Key Contributions

Open datasets describing human behavior in environments shared with mobile robots remain limited,…
This paper introduces OHRID Retail, an open, human centered multimodal dataset collected from 16 …
Each participant completed two trials per condition
Whole body kinematics were recorded using 17 Xsens Awinda inertial sensors and muscle activity wa…
Descriptive analyses demonstrate variation in whole body movement intensity and muscle activation…

Topics

locomotion
reinforcement-learning
planning
human-robot-interaction
benchmark

Code & Data

No code repository linked in paper metadata.

BibTeX

@article{Wang2026_260919302,
  title     = {OHRID-Retail: An Open Multimodal Dataset of Human Activity in Retail Environments},
  author    = {Xiangrui Wang and Yuetong Wu and Jalen Beeman and Robert Cook and Yu Gu and Nathanial Pearson and Trevor Smith and Read Hayes and Boyi Hu},
  year      = {2026},
  eprint    = {2609.19302},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url       = {https://arxiv.org/abs/2609.19302}
}