CC BY 4.0
The publisher's licence permits commercial use and redistribution, with attribution. Card states: The public HIW-500 dataset is released under the CC BY 4.0 license.
hf download BitRobot/HIW-500 --repo-type dataset --local-dir ./HIW-500No gate seen. Raw MCAP and ROS bag here; LeRobot format in BitRobot/HIW-500-LeRobot (a repackaging of this set). The Hub viewer currently errors.
Specification, as published
- Hours (stated)
- 500 h
- Episodes (stated)
- 23,000 episodes
- Scale
- 500+ hours, 23K+ episodes, 12 homes
- Task
- Tidying & put-away, Cleaning, Laundry & folding, Cooking & food prep, Other
- Environment
- Indoor – home
- Modality
- RGB, Stereo, IR, IMU, Proprioception, Actions, Language, Camera calibration
- Capture
- Egocentric
- In frame
- Robot hands
- Captured in
- Asia
- Embodiment
- Unitree G1 humanoid
- Frame rate
- 30 fps
- Resolution
- 480p
- Formats
- MCAP, ROS bag, LeRobot
- Size
- around 10 TB
- Hosted on
- Hugging Face
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
HIW-500 records Unitree G1 humanoids under human teleoperation across 12 real homes in Southeast Asia on more than ten household tasks, with 161 subtask labels and over 148K subtask annotations. Head RGB stereo at 480p 30 fps, wrist RGB plus stereo IR at 480p 30 fps, 29-DoF joint states, end-effector state, IMU, odometry, whole-body teleoperation action traces, language annotations and camera intrinsics and extrinsics. This repo holds the raw ROS bag and MCAP recordings (around 10 TB); the LeRobot conversion is the sibling repo BitRobot/HIW-500-LeRobot. The card invites contact about additional commercial datasets.
Publisher's own task names: 10+ household tasks, 161 subtask labels, 148K+ subtask annotations.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
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