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 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 20.5 ⌀ | frame_index int64 0 1.23k ⌀ | episode_index int64 0 104 ⌀ | index int64 0 81.2k ⌀ | task_index int64 0 0 ⌀ |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Data Studio
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 features an unsheathe-a-sword task in which the humanoid grasps the hilt with its right hand, then uses its left hand to grasp the scabbard. The humanoid coordinates both arms to draw the blade.
The dataset consists of 105 demonstrations collected in 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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