HIW-500: Humanoids In-the-Wild
HIW-500 (Humanoids In-the-Wild) is a large-scale dataset for whole-body humanoid robot learning in natural home environments, capturing human teleoperation demonstrations on the Unitree G1 across 12 real homes in Southeast Asia. It contains 500+ hours and 23K+ episodes spanning 10+ household tasks with 161 subtask labels (~10 TB). Each episode records synchronized head (stereo RGB) and wrist (RGB + stereo IR) cameras, 29-DoF joint states, end-effector state, IMU, odometry, and language annotations.
- Scale
- 500 hours
- Formats
- rosbag · lerobot
- License
- unknown
- Published
- 2026-06-25
Decision summary
teleoperation
Metadata requires review against the official source before publication.
Read the dataset manifest and feature schema.
Catalog assessment
Selection evidence
77/100
Provisional · confidence 48 · 4/6 evaluated
Access and governance
Access and license are declared by the source.
Schema and signal coverage
No machine-readable schema has been verified yet.
Policy training readiness
Observation and action/state signals are declared; alignment quality still depends on sample verification.
View 3 more dimensions
World-model readiness
Temporal observations plus geometry or semantic context are declared; sample alignment remains to be audited.
Failure and recovery readiness
No verified failure/recovery annotation evidence is available yet.
Download and processing readiness
Scale is declared; transfer and processing estimates are not measured.
Review unresolved evidence and next checks
Signal gaps
- Gaze / attention. Not enough evidence is available to classify this signal.
- Feedback / correction / failure. Not enough evidence is available to classify this signal.
Next checks
- Read the dataset manifest and feature schema.
- Run a bounded sample audit before assigning Strong readiness.
Record specifics
Dataset facts
- Source
- BitRobot
- Evidence
- secondary claim
- Formats
- rosbag · lerobot
- episodes
- 23000
- hours
- 500
- tasks
- 10
Metadata coverage
Loop signals
5/7 present or partial
No decision-grade evidence captured yet.
unknownNo decision-grade evidence captured yet.
unknownView 5 more signal categories
depth · video · HIW-500 (Humanoids In-the-Wild) is a large-scale dataset for whole-body humanoid robot learning in natural home environments, capturing human teleoperation demonstrations on the Unitree G1 across 12 real homes in Southeast Asia. It contains 500+ hours and 23K+ episodes spanning 10+ household tasks with 161 subtask labels (~10 TB). Each episode records synchronized head (stereo RGB) and wrist (RGB + stereo IR) cameras, 29-DoF joint states, end-effector state, IMU, odometry, and language annotations.
presentee_pose · HIW-500 (Humanoids In-the-Wild) is a large-scale dataset for whole-body humanoid robot learning in natural home environments, capturing human teleoperation demonstrations on the Unitree G1 across 12 real homes in Southeast Asia. It contains 500+ hours and 23K+ episodes spanning 10+ household tasks with 161 subtask labels (~10 TB). Each episode records synchronized head (stereo RGB) and wrist (RGB + stereo IR) cameras, 29-DoF joint states, end-effector state, IMU, odometry, and language annotations.
partiallanguage · HIW-500 (Humanoids In-the-Wild) is a large-scale dataset for whole-body humanoid robot learning in natural home environments, capturing human teleoperation demonstrations on the Unitree G1 across 12 real homes in Southeast Asia. It contains 500+ hours and 23K+ episodes spanning 10+ household tasks with 161 subtask labels (~10 TB). Each episode records synchronized head (stereo RGB) and wrist (RGB + stereo IR) cameras, 29-DoF joint states, end-effector state, IMU, odometry, and language annotations.
presentdepth
presentOpen · unknown · rosbag · lerobot
presentEvidence details and provenance
Official signal claims
Schema and annotations
No machine-readable schema facts are captured.
Sample verification
Pending. Metadata does not prove sample coverage, alignment, or file integrity.
curated official source
Integration notes
- Metadata requires review against the official source before publication.
Catalog links