HIW-500: Humanoids In-the-Wild
500+ hours of Unitree G1 humanoid whole-body teleoperation across 12 real homes in Southeast Asia.
| Year | 2026 |
|---|---|
| Episodes | 23,000 |
| Total hours | 500 |
| Embodiments | unitree_humanoid |
| Modalities | depth, ee_pose, language, proprioception, rgb |
| Task categories | manipulation, navigation |
| License | unknown |
| Access | open |
| Maintainer | BitRobot |
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.