HumanPlus-1000

HumanPlus-1000 is a large-scale multimodal human behavior dataset designed for learning and modeling human perception, motion, and interaction in real-world environments.

It captures synchronized egocentric visual observations, full-body motion, hand motion, camera motion, and 3D environment information, with the goal of providing paired human perception–action data for embodied intelligence, human motion modeling, and robotics.

Current Release: This repository currently provides a 100-session preview subset of HumanPlus-1000 for demonstrating the dataset format, modalities, annotations, and research use cases.

The full HumanPlus-1000 dataset is under active development.

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Overview

HumanPlus-1000 is designed around long-horizon human activities captured in real-world environments.

Unlike datasets that provide only egocentric video or isolated motion sequences, HumanPlus aims to align multiple representations of human behavior within the same recording:

• what the human sees,
• how the human body moves,
• how the hands interact with the environment,
• how the human moves through the 3D world,
• and what task is being performed.

Each recording is organized as a session, containing synchronized sensor data, reconstructed motion, calibration information, and metadata.

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Preview Release

The current Hugging Face release contains:

100 demo sessions

These sessions are provided as a preview of the HumanPlus-1000 data infrastructure and are intended to help researchers:

• inspect the dataset format,
• develop data loaders,
• test multimodal learning pipelines,
• explore human motion and egocentric perception,
• and reproduce example HumanPlus tasks.

The preview subset does not represent the final scale or complete distribution of HumanPlus-1000.

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Modalities

Depending on the session, HumanPlus may provide:

Egocentric Vision

• Stereo fisheye video
• Rectified / undistorted egocentric video
• Depth estimation

Human Motion

• Full-body motion
• SMPL / SMPL-H parameters
• Global body translation and orientation
• Hand pose

World Motion

• Camera trajectory
• SLAM trajectory
• Camera pose in the reconstructed world coordinate system

Inertial Sensing

• Wearable IMU measurements
• Synchronized orientation / acceleration signals

Calibration

• Camera intrinsics
• Camera distortion parameters
• Stereo extrinsics
• Camera-to-human calibration
• Coordinate-system transformations

Semantic Metadata

• Session information
• Scene
• Task / activity
• Duration
• Available modalities
• Data quality indicators

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Data Organization

A HumanPlus recording is organized around a session.

Example:

HumanPlus-1000/
├── metadata/
│   └── sessions.parquet
│
└── data/
    ├── HP_S000001/
    │   ├── fisheye_left.mp4
    │   ├── fisheye_right.mp4
    │   ├── annotation.hdf5
    │   └── metadata.json
    │
    ├── HP_S000002/
    │   └── ...
    │
    └── ...