Humanoid Everyday

A real-robot humanoid manipulation dataset from USC and the Toyota Research Institute, covering 260 tasks.

Humanoid Everyday was released by the University of Southern California and the Toyota Research Institute in October 2025. Most existing robot datasets come from fixed robot arms, and humanoid-specific data has been scarce and narrow in task coverage; this dataset was built to fill that gap. The data was collected using a Unitree G1 (29 degrees of freedom, fitted with a Dex3-1 three-fingered dexterous hand) and a Unitree H1 (27 degrees of freedom, fitted with an Inspire dexterous hand), with operators teleoperating via Apple Vision Pro headsets. It totals 10,300 trajectories, over 3 million frames, and 260 tasks, organized into 7 categories: basic manipulation, deformable objects, articulated objects, tool use, high-precision manipulation, human-robot interaction, and mobile manipulation. Each trajectory synchronously records RGB, depth, LiDAR, tactile, IMU, and language description data at 30Hz. The authors also built a cloud evaluation platform where researchers can submit a policy and have it tested in their controlled real-robot setup. The data is released under the CC BY 4.0 license.

Also called

Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation

Related

Humanoid Robot · Unitree G1 · Unitree H1 · VR Teleoperation · Apple Vision Pro · Real-World Evaluation

Sources

Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation (arXiv)
Humanoid Everyday 项目主页 (Chinese)

As of

2025-10