Humanoid Everyday
USC Physical Superintelligence Lab · 2025 · datasets.bot · datasets.bot page
One-liner. Unitree G1/H1 humanoid manipulation: 10.3k trajectories, 260 tasks, RGB-D + LiDAR + tactile, LeRobot.
Setup
- Datasets / benchmarks: Humanoid Everyday is a large-scale, diverse humanoid manipulation dataset from USC's Physical Superintelligence Lab, collected via human-supervised teleoperation on real Unitree G1 and H1 humanoids. It comprises 10,300 trajectories and over 3 million frames across 260 tasks in 7 categories, spanning dexterous manipulation, human-humanoid interaction, and locomotion-integrated activities. Each trajectory aggregates egocentric and third-person RGB, depth, LiDAR point clouds, tactile, IMU, and proprioception at 30 Hz, with natural-language annotations, in LeRobot v2.0 format. License: Apache-2.0. Download: https://huggingface.co/datasets/USC-PSI-Lab/humanoid-everyday.
- Hardware / simulator: Embodiment: unitree_humanoid. Environment: home, lab, office, outdoor, tabletop. Realness: physical.
Schema
LeRobot v2.0 episodes at 30 Hz: egocentric/third-person RGB, depth, LiDAR point clouds, tactile, IMU, odometry, arm/leg/hand joint states; natural-language task annotations.
Links