Voxel51cc-by-4.0
HIW-500 (48-episode FiftyOne subset)
A 48-episode subset of the HIW-500 dataset featuring humanoid whole-body teleoperation of a Unitree G1 robot performing household tasks in real homes, converted to LeRobot v3.0 format for use in FiftyOne. Covers all 11 task categories with synchronized video streams from head and wrist cameras plus per-frame robot state and action data.
Downloads2
Episodes48
Why This Matters for Physical AI
This dataset provides diverse in-the-wild demonstrations of whole-body humanoid control for household manipulation tasks, enabling research on mobile manipulation, bimanual interaction, and imitation learning from human teleoperation in real-world settings.
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- Unitree G1humanoid
- Action Space
- whole_body_control
- Environment
- home
- Task Types
- manipulationmobile_manipulationsetting_the_tableclothes_washinghanging_keysmoving_pillowpicking_trashsweepingkitchen_organizationrestocking_fridgebuilding_tablecleaning_roomhanging_hanger
- Episodes
- 48
- Data Format
- LeRobot
- Annotation Types
- task_labels
- License
- cc-by-4.0
Access
Need custom rgb data?
Claru builds purpose-built datasets for home applications with dense human annotations and quality assurance.
Request a Sample Pack