Humanoid
Humanoid Everyday
Humanoid manipulation
Multimodal teleoperated G1/H1 humanoid demonstrations spanning 260 tasks in seven categories, with approximately 10.3k reported trajectories.
Access links
Primary places to inspect, download, read about, or reproduce the dataset.
Quick facts
- Vehicle type
- Humanoid
- Environment
- Indoor, Outdoor
- Data origin
- Real-world
- Sensor count
- 4
- Ground truth
- Not reported
- Calibration
- Not reported
- Annotations
- Available
Sensor overview
High-level sensor availability before the detailed sensor records below.
Ground truth
Reference scope, method, rate, coverage, and provenance.
Not reported
Calibration and synchronization
Reported calibration level, reproducibility signals, and supporting notes.
- Level
- Not reported
- Processed parameters
- Not reported
- Raw calibration data
- Not reported
- Calibration targets
- Not reported
Calibration data
Calibration reproducibility details are not reported.
Notes
Not reportedKnown or intentional limitations
Reported constraints and characteristics to check before using the dataset.
Not reported
Cameras
rgbd
- Model
- Not reported
- Setup
- Rgbd
- Count
- 1
- Effective cameras
- 2
- Modality
- Rgbd
- Resolution
- Not reported
- Rate
- Not reported
- Shutter
- Not Reported
- Lens type
- Not Reported
- HFOV
- Not reported
- VFOV
- Not reported
- Notes
- Intel RealSense RGB-D family on G1 and H1; exact model and physical count unspecified. Egocentric RGB and depth are recorded. Reported 30 Hz describes pipeline recording, not an independently established native camera rate.
IMUs
Robot IMU information
- Model
- Not reported
- Count
- 1
- Accel / gyro
- Not reported
GNSS
Not reported
LiDAR
Livox LiDAR
- Model or name
- Livox LiDAR
- Count
- 1
- Dimensions
- Not reported
- Rate
- Not reported
- Channels
- Not reported
- Range
- Not reported
Radar
Not reported
Pitot tube
Not reported
Additional sensors
Other sensor
- Name
- Dex3-1 tactile sensors
- Count
- 1
- Notes
- Tactile feedback is part of the dataset; hardware is explicitly identified on G1 Dex3-1 hands. H1 and per-episode coverage remain unverified despite the composition section's blanket episode claim.
Annotations
Reported annotation availability and task support.
- Availability
- Available
- Format
- Not reported
- Class count
- Not reported
Semantic segmentation
Not reported
Instance segmentation
Not reported
Object detection
Not reported
Optical flow
Not reported
Depth ground truth
Not reported
Citation
Citation key and BibTeX kept at the end of the page for reference.
Not reported
Dataset corrections
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