Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
Paper • 2510.08807 • Published • 5
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observation.depth.egocentric array 2D | observation.lidar list | observation.imu.quaternion list | observation.imu.accelerometer list | observation.imu.gyroscope list | observation.imu.rpy list | observation.odometry.position list | observation.odometry.velocity list | observation.odometry.rpy list | observation.odometry.quat list | observation.arm_joints list | observation.leg_joints list | observation.hand_joints list | observation.tactile.sensor_id list | observation.tactile.values array 2D | action list | timestamp float32 | frame_index int64 | episode_index int64 | index int64 | task_index int64 | next.done bool | da3.depth list | da3.depth_filtered list | da3.camera_pose list | da3.intrinsics list | T_world_floor list | T_world_camera_floor_aligned list | sam3.mask.robot list |
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End of preview.
Humanoid Everyday
A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
Overview
Humanoid Everyday is a large-scale, diverse humanoid manipulation dataset designed for open-world robotic learning and embodied intelligence.
It contains over 260 tasks across 7 major categories, covering dexterous manipulation, human–humanoid interaction, and locomotion-integrated activities.
All data were collected through a human-supervised teleoperation pipeline, recording multimodal sensory streams at 30 Hz (RGB, depth, LiDAR, tactile, IMU).
Dataset Access
LeRobot v2.0
This dataset is compliant with the LeRobot v2.0 format. You can load it as follows:
from lerobot.datasets.lerobot_dataset import LeRobotDataset, LeRobotDatasetMetadata
ds_meta = LeRobotDatasetMetadata("USC-GVL/humanoid-everyday")
ds = LeRobotDataset(
"USC-GVL/humanoid-everyday",
tolerance_s=1e-2,
)
Legacy
You can also explore our dataset through the public spreadsheet below:
Humanoid Everyday Dataset Spreadsheet
The sheet includes:
- A full list of 260 humanoid tasks with labeled categorys and robot types.
- Download URLs for each task
A manual dataloader is provided at github.com/ausbxuse/Humanoid-Everyday
Citation
@misc{zhao2025humanoideverydaycomprehensiverobotic,
title={Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation},
author={Zhenyu Zhao and Hongyi Jing and Xiawei Liu and Jiageng Mao and Abha Jha and Hanwen Yang and Rong Xue and Sergey Zakharor and Vitor Guizilini and Yue Wang},
year={2025},
eprint={2510.08807},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2510.08807},
}
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