Humanoid Robot Datasets

Curated datasets for humanoid robot locomotion, whole-body manipulation, and loco-manipulation. From simulated MuJoCo walking to real-world Unitree G1 teleoperation — the data you need for humanoid policy training.

Key Humanoid Datasets

Dataset	Focus	Robot / Sim	Scale
HumanoidBench	Locomotion + manipulation	MuJoCo humanoid	15 tasks, RL baselines
Unitree G1 Demos	Whole-body teleop	Unitree G1	Growing collection
H1 Walking	Bipedal locomotion	Unitree H1	Sim + real transfer
NVIDIA Isaac Humanoid	Sim locomotion	Isaac Sim humanoids	Millions of steps
CMU MoCap (retargeted)	Motion retargeting	Various humanoids	2,500+ motion clips

Challenges in Humanoid Data

Humanoid robots present unique data challenges compared to tabletop arms. The action space is high-dimensional (20–40+ joints), balance constraints are critical, and failures (falls) can damage hardware. Most humanoid training data comes from simulation with sim-to-real transfer, but the gap between simulated and real-world dynamics remains significant for contact-rich tasks.

Emerging approaches use VR teleoperation with motion retargeting to collect real-world humanoid demonstrations. RCSV supports this workflow with Unitree G1 and H1 platforms and full-body motion capture retargeting pipelines.

Humanoid Hardware at RCSV

We operate Unitree G1 humanoid robots for data collection and policy deployment. G1 features 23 DoF, dexterous hands, and ROS 2 integration. Available for purchase, lease, or managed data collection campaigns.

For locomotion-focused research, we also work with the Unitree H1 and support sim-to-real pipelines using Isaac Sim and MuJoCo.