Richard-Nai/HuMI-Raw-Data

Raw Data for HuMI

[Project Page] | [Paper]

Dataset Summary

This dataset contains raw data collected using the HuMI data collection pipeline. It includes MP4 videos and tracker trajectories.

The dataset provides demonstrations of five tasks:

• Marriage proposal
• Unsheathing a sword
• Tossing a toy
• Walking to clean a table
• Squatting to pick up a bottle

In addition to the raw data, we provide processed versions in LeRobot and UMI Zarr formats. These are available in this Hugging Face collection.

Dataset Structure

The dataset is organized as follows:

<task_name>
├── raw_videos
│   ├── <demo_id>_<gripper_id>.mp4
├── raw_trajectories
│   ├── <demo_id>.json

Each demonstration includes two MP4 videos recorded by wrist-mounted cameras and one tracker trajectory file. The gripper_id indicates the gripper used: 0 corresponds to the right gripper, and 1 corresponds to the left gripper.

Each trajectory file contains timestamped SE(3) poses for five trackers attached to the grippers, pelvis, and feet. The file has the following structure:

{
    "episode": [
        {
            "timestamp": 1767865041.441762,
            "root_pose": {
                "position": [
                    -0.10534717397761074,
                    0.36566208779727083,
                    0.09356307255543292
                ],
                "quaternion_wxyz": [
                    0.9967927956853224,
                    0.06102480450578918,
                    0.05007878895589951,
                    -0.013122903702305623
                ]
            },
            "left_hand_pose": {...},
            "right_hand_pose": {...},
            "left_foot_pose": {...},
            "right_foot_pose": {...}
        }
    ]
}

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}
}