BitRobot2026cc-by-4.0
HIW500: Humanoids In-the-Wild Dataset (LeRobot)
A large-scale dataset of humanoid robot manipulation and mobile manipulation tasks collected in-the-wild using teleoperation. Contains 23,743 episodes of bimanual interactions with the Unitree G1 humanoid.
Downloads15K
Episodes23743
Hours378.1477
Likes24
Technical Profile
- Modalities
- rgbproprioceptionlanguage
- Robot Embodiments
- Unitree G1
- Action Space
- 23-DoF: 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
- Environment
- in-the-wild
- Task Types
- manipulationmobile_manipulationbimanual
- Episodes
- 23743
- Total Hours
- 378.1477
- Data Format
- LeRobot
- License
- cc-by-4.0
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