@BitRobotNetwork: 1/ Introducing HIW-500 (Humanoids-in-the-Wild 500): the largest open-source humanoid teleop dataset collected in real h…

1/ Introducing HIW-500 (Humanoids-in-the-Wild 500): the largest open-source humanoid teleop dataset collected in real homes

Built w/ @UnitreeRobotics @huggingface across 12 homes in Southeast Asia, it covers:

500+ hrs 23K+ episodes 10+ TB 10+ household tasks

2/ Humanoid robots have made tremendous progress in locomotion.

But whole-body mobile manipulation in real homes remains one of the biggest unsolved challenges in robotics.

Most datasets are collected in controlled environments. Real homes are messy, unpredictable, and full of edge cases.

To build “robot butlers” that work in the real world, we need data from the real world. HIW-500 is a step in that direction.

3/ To build this dataset, we used the following hardware setup:

Unitree G1 humanoids Stereo head camera IR stereo wrist cameras Grippers

This was designed to capture both whole-body motion and manipulation in everyday household environments.

4/ Each episode includes:

Head camera RGB (480p, 30 FPS) Wrist camera RGB + IR (480p, 30 FPS) Full robot state & actions (29 DoF, IMU, odometry) Episode and sub-task annotations

5/ The dataset contains 10+ long-horizon household tasks, with some episodes lasting more than 8 minutes.

And 10+ long-horizon tasks spanning navigation, object manipulation, and multi-step activities that require coordination across the entire robot body.

6/ With thousands of demonstrations per task and detailed sub-task annotations, researchers can train and evaluate models across multiple levels of abstraction.

7/ This project represents months of work alongside incredible partners.

Anyone who has tried teleoperating a humanoid robot knows how challenging it is. Collecting thousands of high-quality whole-body demonstrations inside real homes is an entirely different level of difficulty.

Huge thanks to @UnitreeRobotics for the hardware support.

And to @huggingface for partnering with us once again after our previous work on open-sourcing large-scale urban navigation datasets.

8/ Full 10TB dataset in ROSbag + @LeRobotHF ↓

Dataset: https://huggingface.co/datasets/BitRobot/In-The-Wild-Humanoid-Dataset… LeRobot: https://huggingface.co/datasets/BitRobot/In-The-Wild-Humanoid-Dataset-LeRobot…

For research / commercial use of the expanded HIW-500 dataset → https://bitrobot-foundation.github.io/humanoids-in-the-wild-500-hours/… or reach out to us directly!