Humanoid Everyday
Unitree G1/H1 humanoid manipulation: 10.3k trajectories, 260 tasks, RGB-D + LiDAR + tactile, LeRobot.
| Year | 2025 |
|---|---|
| Episodes | 10,300 |
| Total hours | 28 |
| Embodiments | unitree_humanoid |
| Modalities | depth, language, point_cloud, proprioception, tactile, rgb |
| Task categories | manipulation, navigation |
| License | Apache-2.0 |
| Access | open — commercial use permitted |
| Maintainer | USC Physical Superintelligence Lab |
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.