EgoHumanoid · Sample G1 Dataset

A sample dataset released alongside EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration, containing both robot teleoperation (Unitree G1) and robot-free egocentric human demonstration (PICO VR + ZED) data for quick experimentation and fine-tuning.

---

Overview

This repository hosts a sample subset with two data sources:

Subset	Description	Episodes
example/robot/	Robot teleoperation demonstrations (Unitree G1)	50
example/human/	Egocentric human demonstrations (PICO VR + ZED)	1

Intended for:

• Smoke-testing the EgoHumanoid co-training pipeline (robot + human data)
• Fine-tuning a pretrained VLA policy on a small G1 task
• Validating data loaders and the LeRobot-compatible storage format

For the full release and broader documentation, please visit the project page and GitHub repository linked below.

Links

Resource	URL
Project Page	https://opendrivelab.com/EgoHumanoid/
GitHub Repo	https://github.com/OpenDriveLab/EgoHumanoid
Paper (arXiv)	https://arxiv.org/abs/2602.10106

Dataset Structure

EgoHumanoid/
└── example/
    ├── robot/                          # robot teleoperation demonstrations
    │   ├── data/chunk-000/
    │   │   └── episode_*.parquet       # per-episode state / action trajectories
    │   ├── meta/
    │   │   ├── info.json               # schema & dataset metadata
    │   │   ├── modality.json           # input / output modality definitions
    │   │   ├── episodes.jsonl          # episode index
    │   │   ├── episodes_stats.jsonl    # per-episode statistics
    │   │   └── tasks.jsonl             # language task descriptions
    │   ├── videos/                     # egocentric RGB recordings
    │   └── norm_stats.json             # normalization statistics
    └── human/                          # egocentric human demonstrations
        ├── data/chunk-000/
        │   └── episode_*.parquet
        ├── meta/
        │   ├── info.json
        │   ├── episodes.jsonl
        │   ├── episodes_stats.jsonl
        │   └── tasks.jsonl
        └── videos/                     # egocentric RGB recordings

Both subsets follow the LeRobot v2 convention, so any LeRobot-compatible loader can read them out of the box.

Quick Start

from huggingface_hub import snapshot_download

local_dir = snapshot_download(
    repo_id="OpenDriveLab/EgoHumanoid",
    repo_type="dataset",
    allow_patterns="example/*",
)
print(f"Downloaded to: {local_dir}/example")

Or with the CLI:

hf download OpenDriveLab/EgoHumanoid --repo-type=dataset --local-dir ./EgoHumanoid

Citation

If you find this dataset useful, please cite the EgoHumanoid paper:

@article{shi2026egohumanoid,
    title={EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration},
    author={Shi, Modi and Peng, Shijia and Chen, Jin and Jiang, Haoran and Li, Yinghui and Huang, Di and Luo, Ping and Li, Hongyang and Chen, Li},
    journal={arXiv preprint arXiv:2602.10106},
    year={2026}
}

License

Released under the Apache 2.0 license.