Datasets:

BitRobot
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HIW-500

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Tags:

robotics

humanoid

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The dataset viewer is not available for this split.

Cannot load the dataset split (in streaming mode) to extract the first rows.

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
episode_name: string
task: string
start_timestamp_ns: int64
end_timestamp_ns: int64
duration_ns: int64
duration_sec: double
subtasks: list<item: struct<task: string, timestamp_ns: int64>>
  child 0, item: struct<task: string, timestamp_ns: int64>
      child 0, task: string
      child 1, timestamp_ns: int64
scene: int64
ir1: struct<intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: dou (... 140 chars omitted)
  child 0, intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: double, model: string, (... 28 chars omitted)
      child 0, width: int64
      child 1, height: int64
      child 2, fx: double
      child 3, fy: double
      child 4, ppx: double
      child 5, ppy: double
      child 6, model: string
      child 7, coeffs: list<item: double>
          child 0, item: double
  child 1, extrinsics_to_color: struct<rotation: list<item: double>, translation: list<item: double>>
      child 0, rotation: list<item: double>
          child 0, item: double
      child 1, translation: list<item: double>
          child 0, item: double
serial_number: string
ir2: struct<intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: dou (... 230 chars omitted)
  child 0, intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: double, model: string, (... 28 chars omitted)
      child 0, width: int64
      child 1, height: int64
      child 2, fx: double
      child 3, fy: double
      child 4, ppx: double
      child 5, ppy: double
      child 6, model: string
      child 7, coeffs: list<item: double>
          child 0, item: double
  child 1, extrinsics_to_color: struct<rotation: list<item: double>, translation: list<item: double>>
      child 0, rotation: list<item: double>
          child 0, item: double
      child 1, translation: list<item: double>
          child 0, item: double
  child 2, extrinsics_to_ir1: struct<rotation: list<item: double>, translation: list<item: double>>
      child 0, rotation: list<item: double>
          child 0, item: double
      child 1, translation: list<item: double>
          child 0, item: double
color: struct<intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: dou (... 48 chars omitted)
  child 0, intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: double, model: string, (... 28 chars omitted)
      child 0, width: int64
      child 1, height: int64
      child 2, fx: double
      child 3, fy: double
      child 4, ppx: double
      child 5, ppy: double
      child 6, model: string
      child 7, coeffs: list<item: double>
          child 0, item: double
to
{'color': {'intrinsics': {'width': Value('int64'), 'height': Value('int64'), 'fx': Value('float64'), 'fy': Value('float64'), 'ppx': Value('float64'), 'ppy': Value('float64'), 'model': Value('string'), 'coeffs': List(Value('float64'))}}, 'ir1': {'intrinsics': {'width': Value('int64'), 'height': Value('int64'), 'fx': Value('float64'), 'fy': Value('float64'), 'ppx': Value('float64'), 'ppy': Value('float64'), 'model': Value('string'), 'coeffs': List(Value('float64'))}, 'extrinsics_to_color': {'rotation': List(Value('float64')), 'translation': List(Value('float64'))}}, 'ir2': {'intrinsics': {'width': Value('int64'), 'height': Value('int64'), 'fx': Value('float64'), 'fy': Value('float64'), 'ppx': Value('float64'), 'ppy': Value('float64'), 'model': Value('string'), 'coeffs': List(Value('float64'))}, 'extrinsics_to_color': {'rotation': List(Value('float64')), 'translation': List(Value('float64'))}, 'extrinsics_to_ir1': {'rotation': List(Value('float64')), 'translation': List(Value('float64'))}}, 'serial_number': Value('string')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 478, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2818, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              episode_name: string
              task: string
              start_timestamp_ns: int64
              end_timestamp_ns: int64
              duration_ns: int64
              duration_sec: double
              subtasks: list<item: struct<task: string, timestamp_ns: int64>>
                child 0, item: struct<task: string, timestamp_ns: int64>
                    child 0, task: string
                    child 1, timestamp_ns: int64
              scene: int64
              ir1: struct<intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: dou (... 140 chars omitted)
                child 0, intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: double, model: string, (... 28 chars omitted)
                    child 0, width: int64
                    child 1, height: int64
                    child 2, fx: double
                    child 3, fy: double
                    child 4, ppx: double
                    child 5, ppy: double
                    child 6, model: string
                    child 7, coeffs: list<item: double>
                        child 0, item: double
                child 1, extrinsics_to_color: struct<rotation: list<item: double>, translation: list<item: double>>
                    child 0, rotation: list<item: double>
                        child 0, item: double
                    child 1, translation: list<item: double>
                        child 0, item: double
              serial_number: string
              ir2: struct<intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: dou (... 230 chars omitted)
                child 0, intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: double, model: string, (... 28 chars omitted)
                    child 0, width: int64
                    child 1, height: int64
                    child 2, fx: double
                    child 3, fy: double
                    child 4, ppx: double
                    child 5, ppy: double
                    child 6, model: string
                    child 7, coeffs: list<item: double>
                        child 0, item: double
                child 1, extrinsics_to_color: struct<rotation: list<item: double>, translation: list<item: double>>
                    child 0, rotation: list<item: double>
                        child 0, item: double
                    child 1, translation: list<item: double>
                        child 0, item: double
                child 2, extrinsics_to_ir1: struct<rotation: list<item: double>, translation: list<item: double>>
                    child 0, rotation: list<item: double>
                        child 0, item: double
                    child 1, translation: list<item: double>
                        child 0, item: double
              color: struct<intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: dou (... 48 chars omitted)
                child 0, intrinsics: struct<width: int64, height: int64, fx: double, fy: double, ppx: double, ppy: double, model: string, (... 28 chars omitted)
                    child 0, width: int64
                    child 1, height: int64
                    child 2, fx: double
                    child 3, fy: double
                    child 4, ppx: double
                    child 5, ppy: double
                    child 6, model: string
                    child 7, coeffs: list<item: double>
                        child 0, item: double
              to
              {'color': {'intrinsics': {'width': Value('int64'), 'height': Value('int64'), 'fx': Value('float64'), 'fy': Value('float64'), 'ppx': Value('float64'), 'ppy': Value('float64'), 'model': Value('string'), 'coeffs': List(Value('float64'))}}, 'ir1': {'intrinsics': {'width': Value('int64'), 'height': Value('int64'), 'fx': Value('float64'), 'fy': Value('float64'), 'ppx': Value('float64'), 'ppy': Value('float64'), 'model': Value('string'), 'coeffs': List(Value('float64'))}, 'extrinsics_to_color': {'rotation': List(Value('float64')), 'translation': List(Value('float64'))}}, 'ir2': {'intrinsics': {'width': Value('int64'), 'height': Value('int64'), 'fx': Value('float64'), 'fy': Value('float64'), 'ppx': Value('float64'), 'ppy': Value('float64'), 'model': Value('string'), 'coeffs': List(Value('float64'))}, 'extrinsics_to_color': {'rotation': List(Value('float64')), 'translation': List(Value('float64'))}, 'extrinsics_to_ir1': {'rotation': List(Value('float64')), 'translation': List(Value('float64'))}}, 'serial_number': Value('string')}
              because column names don't match

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HIW500: Humanoids In-the-Wild Dataset

https://bitrobot-foundation.github.io/humanoids-in-the-wild-500-hours/

HIW500: Humanoids In-the-Wild Dataset is a large-scale dataset for whole-body humanoid robot learning in natural home environments. It captures human teleoperation demonstrations on Unitree G1 across real homes in Southeast Asia, where layouts, object states, lighting, clutter, and operator styles vary from episode to episode.

The dataset is designed for research on mobile manipulation, bimanual interaction, long-horizon household skills, imitation learning, and general-purpose robot learning from in-the-wild demonstrations.

Dataset Overview

500+ hours of humanoid robot demonstrations
23K+ episodes
Around 10 TB of data
10+ household tasks
12 real homes
161 subtask labels
148K+ subtask annotations

Data Modalities

Each episode records human whole-body teleoperation of Unitree G1 in real homes. The dataset combines synchronized visual observations, robot states, actions, and metadata.

Camera Streams

Head camera: RGB stereo, 480p, 30 FPS
Wrist camera: RGB, stereo IR, 480p, 30 FPS

Robot State and Actions

29-DoF joint states
End-effector state
IMU
Odometry
Action traces from human whole-body teleoperation

Metadata

Language annotations
Episode information
Camera intrinsics and extrinsics

Dataset Statistics

Dataset Access

The dataset is hosted on Hugging Face in two formats:

Raw ROS bag / MCAP recordings: https://huggingface.co/datasets/BitRobot/HIW-500
LeRobot format: Coming Soon

Citation

If you use this dataset, please cite:

@misc{hiw500_2026,
  title={HIW500: Humanoids In-the-Wild Dataset for Robot Learning},
  author={BitRobot and Unitree and Hugging Face},
  year={2026},
  howpublished={\url{https://bitrobot-foundation.github.io/humanoids-in-the-wild-500-hours/}}
}

Commercial Access and Custom Data

For additional coverage, commercial rights, evaluation data, or custom data collection, contact us.

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