HIW-500: Humanoids In-the-Wild
Description
HIW-500 contains 500+ hours and 23,743 episodes of human whole-body teleoperation on Unitree G1 robots across 12 real homes in Southeast Asia. Its 11 long-horizon household tasks include room cleanup, table setting, refrigerator restocking, sweeping, and laundry. Synchronized head and wrist cameras, 29-DoF joint state, end-effector state, IMU, odometry, actions, language, and 148K+ fine-grained subtask annotations support imitation learning and general-purpose household mobile manipulation.
License
CC BY 4.0.*
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