datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
DECO-50
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
DECO-50 is a bimanual dexterous manipulation dataset with tactile sensing, comprising 50 hours of teleoperated data across 4 scenarios and 28 subtasks, totaling over 5 million frames collected on real dual-arm robots.
Dataset Structure
DECO-50/
├── task1/
│ ├── sub_task_1/
│ │ ├── episode_000000/
│ │ │ ├──… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-Humanoid/DECO-50.MOSAIC_Dataset
MOSAIC Dataset
Project Page | Paper | Code | Dataset | Model
This repository releases the built-in MOSAIC multi-source motion dataset in the following paper:
MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
The dataset is organized into:
Human motions stored in an AMASS-style format
Unitree G1 motions retargeted from human motions and converted to NPZ for training/visualization
It includes motions from:… See the full description on the dataset page: https://huggingface.co/datasets/BAAI-Humanoid/MOSAIC_Dataset.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.gspc-humanoid-labour-index
GSPC — humanoid labour index facts (Disclosure)
SWIFT census (live): https://councilof.ai/api/swift
XRPL reader (live): https://councilof.ai/api/xrpl
MEASURED financial/domain axis as disclosure facts on 8 frozen URLs (n=8). Not a model leaderboard. No accuracy, no fleet, no leader. Cells the live GET leaves empty stay empty — never invent hours/incidents.
Live status is the humanoid-labour-index row on GET https://councilof.ai/api/gspc. Not a certificate.
Council of AI ·… See the full description on the dataset page: https://huggingface.co/datasets/csoai/gspc-humanoid-labour-index.WoW-1-Benchmark-Samples
🧠 WoW-1 Benchmark Samples
WoW-1 Benchmark Samples is the official evaluation dataset released as part of the WoW (World-Omniscient World Model) project. This benchmark is designed to assess the physical consistency and causal reasoning capabilities of generative world models for robotics and embodied AI.
📘 Dataset Overview
This dataset contains 612 natural language prompts representing real-world robot interaction tasks. These instructions are used to evaluate world… See the full description on the dataset page: https://huggingface.co/datasets/X-Humanoid/WoW-1-Benchmark-Samples.humanoidtoolbench-teleop
ToolBook: HumanoidToolBench demonstrations
Raw Meta Quest teleoperation demonstrations for
humanoid-tool-use-bench,
recorded with teleop_decoupled_wbc on the Unitree G1 in MuJoCo.
Each recording uses LeRobot v2.1 files: 50 Hz, an ego-view video and wrist-view
videos when recorded, and the recording contract in meta/simple_contract.json.
Camera resolutions are
declared in meta/info.json. Code versions, WBC settings, and the render
backend are in meta/info.json and… See the full description on the dataset page: https://huggingface.co/datasets/snupilab/humanoidtoolbench-teleop.Humanoid-X
Humanoid-X
🌐 Homepage | ⛁ Dataset | 🤗 Models | 📑 Paper | 💻 Code
This repo contains the officail dataset for the paper "Learning from Massive Human Videos for Universal Humanoid Pose Control"
If you like our project, please give us a star ⭐ on GitHub for latest update.
In this repo, we fully release the text desciption data texts.zip, humanoid keypoints data humanoid_keypoint.zip, and humanoid actions data humanoid_action.zip.
We only release part of the human poses data… See the full description on the dataset page: https://huggingface.co/datasets/USC-PSI-Lab/Humanoid-X.HumanoidRobotSoccer
Fall Prediction Dataset for Humanoid Robots
Dataset Summary
This dataset consists of 37.9 hours of real-world sensor data collected from 20 Nao humanoid robots over the course of one year in various test environments, including RoboCup soccer matches. The dataset includes 18.3 hours of walking data, featuring 2519 falls. It captures a wide range of activities such as omni-directional walking, collisions, standing up, and falls on various surfaces like artificial turf and… See the full description on the dataset page: https://huggingface.co/datasets/OliverUrbann/HumanoidRobotSoccer.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-robot-radarscore
Roboterradar Humanoid & Quadruped Robot Dataset
Curated editorial assessments of 21 commercially relevant humanoid robots (16) and
quadruped robots (5), with a frozen scoring methodology, evidence grades and a complete
source register.
This Hugging Face repository is a versioned distribution mirror. The canonical,
citeable publication is the Zenodo release:
Version 1.0.0 DOI: https://doi.org/10.5281/zenodo.21797689
Concept DOI for all versions:… See the full description on the dataset page: https://huggingface.co/datasets/roboterradar/humanoid-robot-radarscore.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-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.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.han-humanoid-failure-recovery-patterns-v1
Humanoid Failure Recovery Patterns Dataset (HFRP)
Abstract
HFRP documents structured failure events and recovery
strategies within humanoid task execution pipelines.
Fields
task_id
failure_type
failure_severity
subsystem_origin
recovery_strategy
recovery_latency
outcome_stability_score
Research Motivation
Improving resilience and autonomous recovery
is critical for real-world humanoid deployment.
Benchmark Targets
Failure classification… See the full description on the dataset page: https://huggingface.co/datasets/ariefansclub/han-humanoid-failure-recovery-patterns-v1.humanoid_robot
Humanoid Robot
This dataset contains from black-forest-labs/flux-dev
Caption from OpenAI gpt-4o-2024-08-06
humanoid_pick_and_place
Humanoid Pick and Place (TsFile)
Apache TsFile version of axiboai/humanoid_pick_and_place.
Overview
Teleoperated demonstrations of a humanoid upper body performing a single
pick-and-place task: "pick up cube and place in bin". Each episode records the
synchronized joint states and motor action targets of a two-armed humanoid
(14 arm/wrist joints plus a pinch-distance value per hand) sampled at 30 Hz.
Robot: humanoid_upper_body (dual arm, 16-DoF state/action… See the full description on the dataset page: https://huggingface.co/datasets/THULab/humanoid_pick_and_place.han-humanoid-battery-health-logs-v1
Humanoid Battery Health Logs (HBHL)
Description
Battery performance data collected from humanoid
robot operational cycles.
Features
cycle_id (string)
charge_cycles_count (int)
average_temperature_c (float)
discharge_rate (float)
voltage_variation (float)
battery_health_status (low/medium/high)
Target
battery_health_status
Use Cases
Battery degradation modeling
Maintenance scheduling
Risk prediction
Evaluation Metrics… See the full description on the dataset page: https://huggingface.co/datasets/ariefansclub/han-humanoid-battery-health-logs-v1.humanoid-basic-actions-dataset-v1
Humanoid Basic Actions Dataset v1
Synthetic dataset for humanoid robot training simulation.
Description
This dataset contains labeled humanoid robot action images for basic movement recognition tasks.
Classes
walk
run
sit
stand
wave
pick_object
turn_left
turn_right
Structure
dataset/
├── train/
├── validation/
Each folder contains subfolders named after action labels.
Format
Image Classification (RGB Images 224x224)
Total… See the full description on the dataset page: https://huggingface.co/datasets/Caplin43/humanoid-basic-actions-dataset-v1.humanoid-object-pushing-dataset-v1Dataset for controlled pushing and object relocation.
Description
Object weight and applied force signals mapped to pushing behaviors.
Task Description
Helps humanoid robots move objects safely by adapting push strength and body posture.
humanoid-gesture-control-dataset-v1Dataset for teaching humanoid robots to react to human hand gestures.
Description
Gesture-based commands mapped to safe robot actions.
Task Description
Teaches humanoid robots how to interpret basic hand gestures and execute corresponding movement behaviors.
ppo-seals-Humanoid-v1
Dataset Card for "ppo-seals-Humanoid-v1"
More Information needed
humanoid-cleaning-task-tr-v1Cleaning task interaction dataset for humanoid robots.
Description
Basic cleaning command responses including start, stop and completion actions.
Task Description
Teaches humanoid robots to respond to cleaning related commands in indoor environments.
humanoid-environment-context-labelshumanoid-future-task-adaptation
Future Task Adaptation
Adaptive behavior dataset for autonomous humanoids.
han-humanoid-safety-event-logs-v1
Humanoid Safety Event Logs (HSEL)
Description
This dataset contains structured safety-related
events recorded during humanoid operations.
Features
event_id
task_type
obstacle_proximity_index
joint_temperature
vibration_level
speed_m_s
safety_alert (boolean)
Target
safety_alert
Use Cases
Safety alert prediction
Risk modeling
Preventive monitoring
Evaluation Metrics
Accuracy
F1 Score
ROC-AUC
License
MIT
han-humanoid-balance-recovery-v1
Humanoid Balance Recovery Dataset
Overview
Dataset ini merekam kondisi humanoid saat kehilangan keseimbangan
dan strategi pemulihannya.
Features
body_tilt_angle_deg
angular_velocity_deg_per_sec
center_of_mass_offset_cm
ground_contact_force_n
imu_variance
recovery_time_ms
Target
recovery_success (success / fail)
Task
Binary Classification
humanoid-human-robot-interaction
Human-Robot Interaction Dataset
This dataset focuses on natural language interactions between humans and humanoid robots.
Use Cases
Human-robot interaction
Social robotics
Conversational agents
humanoid-permission-and-access-matrix
Permission & Access Matrix
Enterprise-grade access control structure for humanoid systems.
Humanoid-X
Humanoid-X
🌐 Homepage | ⛁ Dataset | 🤗 Models | 📑 Paper | 💻 Code
This repo contains the officail dataset for the paper "Learning from Massive Human Videos for Universal Humanoid Pose Control"
If you like our project, please give us a star ⭐ on GitHub for latest update.
In this repo, we fully release the text desciption data texts.zip, humanoid keypoints data humanoid_keypoint.zip, and humanoid actions data humanoid_action.zip.
We only release part of the human poses data… See the full description on the dataset page: https://huggingface.co/datasets/skyzos/Humanoid-X.