---
license: cc-by-4.0
task_categories:
- robotics
language:
- en
size_categories:
- n<1K
tags:
- lerobot
- Unitree G1
---
# Dataset Card for HuMI
[[Project Page]](https://humanoid-manipulation-interface.github.io/) | [[Paper]](http://arxiv.org/abs/2602.06643)

### Dataset Summary
This dataset was collected using the [HuMI](https://humanoid-manipulation-interface.github.io/) data collection pipeline and converted into the LeRobot format. It provides robot-free demonstrations for humanoid whole-body manipulation.

**Task Description:** This repository features a `walk-to-clean-table` task in which a humanoid robot navigates to a desk and cleans the tabletop using a lint roller to remove scattered paper scraps.

The dataset consists of 105 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](https://umi-gripper.github.io/):

- `robot0`: right gripper
- `robot1`: left gripper
- `robot2`: pelvis
- `robot3`: right foot
- `robot4`: left foot

### Citation Information
```bibtex
@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}
}
```