HIW-500: Humanoids In-the-Wild
BitRobot · 2026 · datasets.bot · datasets.bot page
One-liner. 500+ hours of Unitree G1 humanoid whole-body teleoperation across 12 real homes in Southeast Asia.
Setup
- Datasets / benchmarks: 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. License: unknown. Download: https://huggingface.co/datasets/BitRobot/HIW-500.
- Hardware / simulator: Embodiment: unitree_humanoid. Environment: home, kitchen. Realness: physical.
Schema
Raw ROS bag / MCAP recordings by task and episode: head stereo RGB (480p/30fps) and wrist RGB+stereo IR, 29-DoF joint states, end-effector state, IMU, odometry, language annotations, camera intrinsics/extrinsics.
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