Richard-Nai/HuMI-Zarrs

Processed Zarr Data for HuMI

[Project Page] | [Paper]

Dataset Summary

This dataset was collected using the HuMI data collection pipeline and converted into UMI's Zarr format. It provides robot-free demonstrations for humanoid whole-body manipulation. The dataset includes demonstrations of five tasks:

• Marriage proposal
• Unsheathing a sword
• Tossing a toy
• Walking to clean a table
• Squatting to pick up a bottle

In addition, we provide raw data (MP4 videos and tracker trajectories) as well as processed data in LeRobot format, available under this collection.

Data Fields

The dataset contains the following features:

• camera{cam_id}_rgb (float32, (224, 224, 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 gripper
• robot1: left gripper
• robot2: pelvis
• robot3: right foot
• robot4: 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}
}