DAGroup-PKU/Open-HumanScale-50K

🚧 DATA UPLOAD IN PROGRESS · 数据上传中

The dataset is public, but the full upload is not yet complete. Conversion is complete; files are being added continuously.

Upload status	Snapshot
Uploaded and verified	6.88 TB / 26.52 TB (25.95%)
Current throughput	33.5 MB/s, averaged over the latest hour
Estimated time remaining	~6.8 days
Estimated completion	2026-11-12 (UTC+8)
Last updated	2026-11-05 20:11 (UTC+8)

Speed includes source download, upload, commit, and verification with overlapping download/upload. TB and MB use decimal units. This is a timestamped snapshot, not a live counter; the completion estimate depends on sustained throughput.

Open-HumanScale-50K

50,000 hours of egocentric human manipulation video, with hand-motion and natural-language annotations, for scaling robot learning.

Open-HumanScale-50K accompanies Open-HumanScale: An Open Recipe for Scaling Human and Robot Experience for Embodied Foundation Models. The corpus combines HumanNet, EgoSuite-Open100K, EgoDex, Gen-HumanEgo, and EgoVerse, spanning household, commercial-service, and industrial manipulation.

The data is curated for hand visibility, motion stability, and manipulation activity. Cross-source alignment standardizes camera coordinates, wrist axes, and hand/gripper openness into a unified bimanual end-effector representation. The report describes 35.9 million selected clips; this release packages 31,396,799 physical episodes. Selected clips and stored episodes are different counting units.

Format and organization

The release uses LeRobot v3, with compressed MP4 videos, Parquet action/state data, captions, episode metadata, and source provenance. Text embedding caches are excluded; captions are retained.

egostandard/part-*/
egopro/part-*/
egodex/part-*/
egoverse/part-*/
humannet/part-*/

Each part-* is an independent LeRobot v3 dataset with data/, videos/, and meta/. EgoStandard and EgoPro come from EgoSuite-Open100K; EgoVerse uses the selected Mecka subset. The humannet/ collection also contains Gen-HumanEgo and other retained sources; source identity is preserved in provenance.

Training subset indices

Choose a training subset · Coverage and checksums · Complete payload file catalog

Each subset is a self-contained Parquet table of dataset_path, episode_index, start_frame, end_frame, source, task, and hand. These addresses point directly into the released LeRobot parts. No historical root IDs or provenance joins are needed. Named Hugging Face configurations load these index rows; video/action payloads are downloaded separately.

The 10,000h, 20,500h and 50,000h indices cover their full selected corpora. Historical 100h–5,000h selections are not entirely contained in the current release. Configurations ending in _available contain only the verified available portion; their missing intervals are listed separately. They must not be treated as complete historical corpora. See the coverage table for exact counts. No replacement clips or validation holdouts are introduced.

See collection.json for collection-level metadata. Source-specific dataset terms apply; this collection does not replace the original source licenses.