Fifty real pick-and-place episodes from a low-cost SO-100/SO-101-class arm, recorded at 30 fps with a side camera and a top-down camera, and used as the SmolVLA fine-tuning example.
USC-PSI-Lab/humanoid-everyday
Indexed from Hugging FaceLinked to its home on Hugging Face. FrontierOS indexes it; nothing is hosted or mirrored here.About
Teleoperated humanoid demonstrations across more than 260 tasks in seven categories, with RGB, depth, LiDAR, tactile and IMU streams at 30 Hz, stored in LeRobot v2 format.
Why it matters for physical AI
Openly licensed real humanoid data is scarce, and this set gives humanoid builders a permissive starting point.
Summary written by FrontierOS in our own words. The upstream card and license govern use. Metadata checked 27 Sep 2026. Read the full card on Hugging Face
Files, weights and version history live on Hugging Face. FrontierOS indexes this repo; it does not host or mirror it.
hf download USC-PSI-Lab/humanoid-everyday --repo-type datasetUses the Hugging Face CLI (pip install -U huggingface_hub). This downloads the whole repo; add --include "<pattern>" to fetch only the files you need.
Open humanoid data is still scarce. What are you training on?
The permissive options are few: Humanoid Everyday for real teleoperation, NVIDIA's GR00T simulation sets, and large egocentric human video as a proxy.
More robot demonstrations
Browse allA filtered collection of 128 SO-100 datasets from 55 community contributors (about 11k episodes and 5.1M frames), with hand-cleaned task descriptions, released as the pretraining subset for SmolVLA.
About 200 human demonstrations in a 2D simulation where a round pusher slides a T-shaped block onto a target outline, stored in LeRobot v3 format.