HuMI
Collection
Datasets for HuMI. Paper: https://arxiv.org/abs/2602.06643 Web page: https://humanoid-manipulation-interface.github.io/ • 6 items • Updated
Datasets:
Search is not available for this dataset
joint_pos list | robot0_demo_end_pose list | robot0_demo_start_pose list | robot0_eef_pos list | robot0_eef_rot_axis_angle list | robot0_gripper_width float32 0 0.09 ⌀ | robot1_demo_end_pose list | robot1_demo_start_pose list | robot1_eef_pos list | robot1_eef_rot_axis_angle list | robot1_gripper_width float32 0.08 0.09 ⌀ | robot2_demo_end_pose list | robot2_demo_start_pose list | robot2_eef_pos list | robot2_eef_rot_axis_angle list | robot3_demo_end_pose list | robot3_demo_start_pose list | robot3_eef_pos list | robot3_eef_rot_axis_angle list | robot4_demo_end_pose list | robot4_demo_start_pose list | robot4_eef_pos list | robot4_eef_rot_axis_angle list | timestamp float32 0 20.3 ⌀ | frame_index int64 0 1.22k ⌀ | episode_index int64 0 102 ⌀ | index int64 0 84.6k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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Dataset Card for HuMI
Dataset Summary
This dataset was collected using the HuMI data collection pipeline and converted into the LeRobot format. It provides robot-free demonstrations for humanoid whole-body manipulation.
Task Description: This repository includes a marriage-proposal task in which a humanoid kneels, picks up a ring-shaped toy from the ground with its right hand, and raises it in a proposal gesture.
The dataset comprises 103 demonstrations collected within a single environment.
Dataset Structure
Data Instances
Each instance in the dataset represents a single frame from an episode. The data includes synchronized camera observations, end-effector poses, joint positions, and task instructions.
Data Fields
The dataset contains the following features:
task(string): The natural language description of the task.observation.images.camera{cam_id}_rgb(video,(H, W, 3)): RGB observations from the cameras.{robot_name}_eef_pos(float32,(3,)): End-effector position (x, y, z).{robot_name}_eef_rot_axis_angle(float32,(3,)): End-effector rotation in axis-angle representation.{robot_name}_gripper_width(float32,(1,)): Gripper width (only present for gripper end-effectors).{robot_name}_demo_start_pose(float32,(6,)): Initial 6DoF pose of the end-effector for the demonstration.{robot_name}_demo_end_pose(float32,(6,)): Final 6DoF pose of the end-effector for the demonstration.joint_pos(float32,(29,)): Full joint positions of the Unitree G1 robot, computed via inverse kinematics using the end-effector poses as targets.
For the HuMI setup, we recorded images from two wrist-mounted cameras, where camera0 corresponds to the right gripper and camera1 corresponds to the left.
Additionally, we recorded trajectories for five end-effectors, adopting the naming convention from UMI:
robot0: right gripperrobot1: left gripperrobot2: pelvisrobot3: right footrobot4: left foot
Citation Information
@article{nai2026humanoid,
title={Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations},
author={Nai, Ruiqian and Zheng, Boyuan and Zhao, Junming and Zhu, Haodong and Dai, Sicong and Chen, Zunhao and Hu, Yihang and Hu, Yingdong and Zhang, Tong and Wen, Chuan and others},
journal={arXiv preprint arXiv:2602.06643},
year={2026}
}
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