USC-PSI-Lab/humanoid-everyday

Humanoid Everyday

A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation

Overview

Humanoid Everyday is a large-scale, diverse humanoid manipulation dataset designed for open-world robotic learning and embodied intelligence.

It contains over 260 tasks across 7 major categories, covering dexterous manipulation, human–humanoid interaction, and locomotion-integrated activities. All data were collected through a human-supervised teleoperation pipeline, recording multimodal sensory streams at 30 Hz (RGB, depth, LiDAR, tactile, IMU).

Dataset Access

LeRobot v2.0

This dataset is compliant with the LeRobot v2.0 format. You can load it as follows:

from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata

ds_meta = LeRobotDatasetMetadata("USC-GVL/humanoid-everyday")

ds = LeRobotDataset(
    "USC-GVL/humanoid-everyday",
    tolerance_s=1e-2,
)

Legacy

You can also explore our dataset through the public spreadsheet below:

[Humanoid Everyday Dataset Spreadsheet](https://docs.google.com/spreadsheets/d/158Wzf8Xywky3aHJSCfp3OZxf4bkhzAJdcG94eHf8gVc/edit?gid=1307250382#gid=1307250382)

The sheet includes:

• —A full list of 260 humanoid tasks with labeled categorys and robot types.
• —Download URLs for each task

A manual dataloader is provided at github.com/ausbxuse/Humanoid-Everyday

Citation

@misc{zhao2025humanoideverydaycomprehensiverobotic,
      title={Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation}, 
      author={Zhenyu Zhao and Hongyi Jing and Xiawei Liu and Jiageng Mao and Abha Jha and Hanwen Yang and Rong Xue and Sergey Zakharov and Vitor Guizilini and Yue Wang},
      year={2025},
      eprint={2510.08807},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2510.08807}, 
}