Datasets:
23.7k episodes · 30 fps · 3 cameras · 1280×480 av1
This dataset was created using LeRobot.
Dataset Structure
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.head": {
"dtype": "video",
"shape": [
480,
1280,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 1280,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.left_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.images.right_wrist": {
"dtype": "video",
"shape": [
480,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 480,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false,
"video.g": 2,
"video.crf": 30,
"video.preset": 12,
"video.fast_decode": 0,
"video.video_backend": "pyav",
"video.extra_options": {}
}
},
"observation.state": {
"dtype": "float32",
"shape": [
29
],
"names": [
"kLeftHipPitch.q",
"kLeftHipRoll.q",
"kLeftHipYaw.q",
"kLeftKnee.q",
"kLeftAnklePitch.q",
"kLeftAnkleRoll.q",
"kRightHipPitch.q",
"kRightHipRoll.q",
"kRightHipYaw.q",
"kRightKnee.q",
"kRightAnklePitch.q",
"kRightAnkleRoll.q",
"kWaistYaw.q",
"kWaistRoll.q",
"kWaistPitch.q",
"kLeftShoulderPitch.q",
"kLeftShoulderRoll.q",
"kLeftShoulderYaw.q",
"kLeftElbow.q",
"kLeftWristRoll.q",
"kLeftWristPitch.q",
"kLeftWristyaw.q",
"kRightShoulderPitch.q",
"kRightShoulderRoll.q",
"kRightShoulderYaw.q",
"kRightElbow.q",
"kRightWristRoll.q",
"kRightWristPitch.q",
"kRightWristYaw.q"
]
},
"observation.state.wbc": {
"dtype": "float32",
"shape": [
23
],
"names": [
"pivot_vx",
"pivot_vy",
"pivot_vyaw",
"pivot_roll",
"pivot_pitch",
"pivot_yaw",
"pivot_height",
"left_ee_x",
"left_ee_y",
"left_ee_z",
"left_ee_roll",
"left_ee_pitch",
"left_ee_yaw",
"right_ee_x",
"right_ee_y",
"right_ee_z",
"right_ee_roll",
"right_ee_pitch",
"right_ee_yaw",
"left_trigger",
"left_squeeze",
"right_trigger",
"right_squeeze"
]
},
"action": {
"dtype": "float32",
"shape": [
23
],
"names": [
"pivot_vx",
"pivot_vy",
"pivot_vyaw",
"pivot_roll",
"pivot_pitch",
"pivot_yaw",
"pivot_height",
"left_ee_x",
"left_ee_y",
"left_ee_z",
"left_ee_roll",
"left_ee_pitch",
"left_ee_yaw",
"right_ee_x",
"right_ee_y",
"right_ee_z",
"right_ee_roll",
"right_ee_pitch",
"right_ee_yaw",
"left_trigger",
"left_squeeze",
"right_trigger",
"right_squeeze"
]
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"language_persistent": {
"dtype": "language",
"shape": [
1
],
"names": null
},
"language_events": {
"dtype": "language",
"shape": [
1
],
"names": null
}
},
"total_episodes": 23743,
"total_frames": 40839947,
"total_tasks": 11,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 200,
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"robot_type": "unitree_g1",
"splits": {
"train": "0:23743"
}
}
HIW-500: Humanoids In-the-Wild Dataset (LeRobot format)
https://bitrobot-foundation.github.io/humanoids-in-the-wild-500-hours/
This is the LeRobot v3.0 conversion of BitRobot/HIW-500. HIW-500 is a large-scale dataset for whole-body humanoid robot learning in natural home environments. It captures human teleoperation demonstrations on Unitree G1 across real homes in Southeast Asia, where layouts, object states, lighting, clutter, and operator styles vary from episode to episode.
The dataset is designed for research on mobile manipulation, bimanual interaction, long-horizon household skills, imitation learning, and general-purpose robot learning from in-the-wild demonstrations.
Dataset Overview
- 500+ hours of humanoid robot demonstrations
- 23K+ episodes
- Around 10 TB of data
- 10+ household tasks
- 12 real homes
- 161 subtask labels
- 148K+ subtask annotations
Data Modalities
Each episode records human whole-body teleoperation of Unitree G1 in real homes. The dataset combines synchronized visual observations, robot states, actions, and metadata.
Camera Streams
- Head camera: RGB stereo, 480p, 30 FPS
- Wrist camera: RGB, stereo IR, 480p, 30 FPS
Robot State and Actions
- 29-DoF joint states
- End-effector state
- IMU
- Odometry
- Action traces from human whole-body teleoperation
Metadata
- Language annotations
- Episode information
- Camera intrinsics and extrinsics
Dataset Statistics
Dataset Access
- Raw ROS bag / MCAP recordings: https://huggingface.co/datasets/BitRobot/HIW-500
License
The public HIW-500 dataset is released under the CC BY 4.0 license. If you're interested in additional datasets similar to HIW-500, be it for commercial or academic purposes, pls contact us.
Citation
If you use this dataset, please cite:
@misc{hiw500_2026,
title={HIW-500: Humanoids In-the-Wild Dataset for Robot Learning},
author={BitRobot and Unitree and Hugging Face},
year={2026},
howpublished={\url{https://bitrobot-foundation.github.io/humanoids-in-the-wild-500-hours/}}
}
Commercial Access and Custom Data
For additional coverage, commercial rights, evaluation data, or custom data collection, contact us.
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