Dataset Description

This dataset contains egocentric human-humanoid data that can be used to co-train manipulation policy for humanoid robot.

For paper, visualization, and example code using this dataset, please refer to https://human-as-robot.github.io/

arXiv link: https://arxiv.org/abs/2503.13441

Task Descriptions

We provide some example dataset config files that we used for our robots here.

Data organizations

• Each folder represents one task. Most HDF5 files contain ONE execution of the task specified by the language, but certain tasks, such as cup passing, contain multiple demonstrations in each HDF5.
• Taskids start with 1 mean the data is a human demonstrations.