datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
humanoid-robots-training-dataset
Dynamic Intelligence — Humanoid Robot Training Dataset
A first-person (egocentric) video dataset of human hand manipulation, designed for training humanoid robot policies via imitation learning. Each episode captures a person performing an everyday household task — folding clothes, moving dishes, opening doors — filmed from a head-mounted iPhone using its built-in LiDAR and depth sensors.
The dataset pairs each video with frame-level 3D hand tracking and camera pose data, giving… See the full description on the dataset page: https://huggingface.co/datasets/DynamicIntelligence/humanoid-robots-training-dataset.Humanoid-Everyday-G1Humanoid-Everyday-G1Humanoid-Everyday-H1humanoid-everyday-stepit
Humanoid-Everyday · stepit action（G1 子集）
一个自包含的标准 LeRobot v2.1 数据集，由原始 Humanoid-Everyday 数据集的 Unitree G1 子集
重新表达而来。与原始数据唯一的区别是 action 列被替换成了一个 41 维、包含完整 base 状态
（位置 + 姿态 + 线速度）的动作向量；其余所有列均逐字节保持不变，可直接用标准 LeRobot 加载器读取。
动作空间：41 维 = base(10) + G1 身体 29 关节 + 双手开合 2；抽取相应切片即可喂给
stepit（Unitree G1 29-DOF）控制器（见下文 stepit qpos）。
规模：4068 episodes / 1,781,092 frames / 246 tasks / 9 chunks，fps = 30，robot_type = g1。
体积：≈ 394 GB（parquet ≈ 391 GB + 视频 ≈ 3 GB + meta ≈ 2 MB）。
原始数据是 G1/H1 混合的（共… See the full description on the dataset page: https://huggingface.co/datasets/UsanoCoCr/humanoid-everyday-stepit.humanoid-everyday_v2This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 399,
"total_frames": 145072,
"total_tasks": 10,
"total_videos": 399,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:399"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/eunjuri/humanoid-everyday_v2.Humanoid-Everyday-H1humanoid-packing-dual-armsThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "x1",
"total_episodes": 13,
"total_frames": 18473,
"total_tasks": 1,
"total_videos": 13,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:13"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/lucasngoo/humanoid-packing-dual-arms.g1-sim-locomanipulation-augmentedHumanoidDatahumanoid-pick-and-placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "x1",
"total_episodes": 7,
"total_frames": 12472,
"total_tasks": 1,
"total_videos": 7,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:7"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/lucasngoo/humanoid-pick-and-place.humanoid_laundryThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "humanoid_upper_body",
"total_episodes": 110,
"total_frames": 195702,
"total_tasks": 1,
"total_videos": 330,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:110"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/axiboai/humanoid_laundry.humanoid-packingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "x1",
"total_episodes": 17,
"total_frames": 19917,
"total_tasks": 1,
"total_videos": 17,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:17"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/lucasngoo/humanoid-packing.humanoidbench
HumanoidBench Balance Simple
LeRobot v2 image-parquet exports for the g1_sonic_balance_simple task in
HumanoidBench. The task prompt is:
Keep the G1 humanoid balanced on the support board.
This dataset is published in the latency-sensitive-bench/humanoidbench
dataset repository. HumanoidBench scene assets are not duplicated here; use
latency-sensitive-bench/g1-sonic-assets at revision
7c0a6616c78106adf9fa54dfc40e56ea07dc7d5d.
Dataset contents
The repository… See the full description on the dataset page: https://huggingface.co/datasets/latency-sensitive-bench/humanoidbench.humanoid-pick-and-placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 53,
"total_frames": 6301,
"total_tasks": 1,
"total_videos": 159,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:53"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/rifxyz/humanoid-pick-and-place.humanoid-pick-and-placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "x1",
"total_episodes": 7,
"total_frames": 12472,
"total_tasks": 1,
"total_videos": 7,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:7"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/skyzos/humanoid-pick-and-place.test-humanoidThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 37,
"total_frames": 5922,
"total_tasks": 1,
"total_videos": 111,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 10,
"splits": {
"train": "0:37"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/danielsanjosepro/test-humanoid.Humanoid-Everyday-G1humanoid-robots-training-dataset
Dynamic Intelligence — Humanoid Robot Training Dataset
A first-person (egocentric) video dataset of human hand manipulation, designed for training humanoid robot policies via imitation learning. Each episode captures a person performing an everyday household task — folding clothes, moving dishes, opening doors — filmed from a head-mounted iPhone using its built-in LiDAR and depth sensors.
The dataset pairs each video with frame-level 3D hand tracking and camera pose data, giving… See the full description on the dataset page: https://huggingface.co/datasets/introvoyz043/humanoid-robots-training-dataset.rosbag-resurrector-demo
rosbag-resurrector-demo
Published with RosBag Resurrector on 2026-07-31 18:36 UTC
Synthetic multi-run campaign generated by RosBag Resurrector's demo bag generator. Four nominal runs plus one deliberately degraded run (lower IMU rate, shorter duration) so the quality grade and anomaly ranking have something to surface. Not real robot data — a showcase of the bag-to-dataset pipeline.
Overview
Format
parquet
Source bags
5
Topics
2
Data files
10… See the full description on the dataset page: https://huggingface.co/datasets/humanoidVik/rosbag-resurrector-demo.humanoid-everyday_v3This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "Unitree_G1_Dex3",
"total_episodes": 399,
"total_frames": 145072,
"total_tasks": 10,
"total_videos": 399,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:399"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/eunjuri/humanoid-everyday_v3.Humanoidhumanoid_pick_stackThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 10,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"s0",
"s1",
"s2",
"s3",
"s4",
"s5",
"s6",
"s7"… See the full description on the dataset page: https://huggingface.co/datasets/SpiderWolf6/humanoid_pick_stack.first-humanoid-datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 19,
"total_frames": 2285,
"total_tasks": 1,
"total_videos": 57,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:19"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/danielsanjosepro/first-humanoid-dataset.humanoid_18act_15state_joint_psiR2_VLA_6_items_sampleThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": "rainbow-prealpha",
"total_episodes": 12,
"total_frames": 4829,
"total_tasks": 12,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:12"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": null,
"features": {… See the full description on the dataset page: https://huggingface.co/datasets/HumanoidTeam/R2_VLA_6_items_sample.first-humanoid-datasetThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 19,
"total_frames": 2285,
"total_tasks": 1,
"total_videos": 57,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:19"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/skyzos/first-humanoid-dataset.humanoid-pick-and-placeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v2.1",
"robot_type": null,
"total_episodes": 53,
"total_frames": 6301,
"total_tasks": 1,
"total_videos": 159,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:53"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/godmodes/humanoid-pick-and-place.humanoid_everydayppo-seals-Humanoid-v1
Dataset Card for "ppo-seals-Humanoid-v1"
More Information needed