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pretty_name: 'HIW500: Humanoids In-the-Wild Dataset (LeRobot)'
language:
  - en
tags:
  - robotics
  - humanoid
  - LeRobot

HIW500: Humanoids In-the-Wild Dataset (LeRobot format)

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

This is the LeRobot v3.0 conversion of BitRobot/HIW-500. HIW500 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: https://huggingface.co/datasets/BitRobot/HIW-500-LeRobot

Citation

If you use this dataset, please cite:

bibtex @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/}} }

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