Note

This is a Hugging Face dataset. For large datasets, ensure huggingface_hub>=1.1.3 to avoid rate limits. Learn more in the Hugging Face integration docs.

Hugging Face

2026 Humanoid IKEA Assembly Challenge → FiftyOne (Native Multimodal MCAP)#

preview

A six-episode subset of BitRobot/2026-humanoid-ikea-assembly-challenge, the shortest episode from each of six recording days spanning the collection window, converted to native multimodal MCAP episodes. Each episode carries the stereo head camera, both wrist cameras with their infrared pairs, whole-body and gripper telemetry with timeline plot channels, base odometry, and the annotated subtask sequence.

Installation#

pip install fiftyone

Usage#

import fiftyone as fo
import fiftyone.utils.huggingface as fouh

dataset = fouh.load_from_hub(
    "Voxel51/2026-Humanoid-IKEA-Assembly-Challenge",
    name="2026-Humanoid-IKEA-Assembly-Challenge",
    persistent=True,
)
fo.launch_app(dataset)

What you get#

  • 6 .mcap episodes of 7,368 to 11,099 frames, 30.7 minutes total

  • Seven camera streams per episode: /head-camera (1280x480 side-by-side stereo), /left-wrist-camera and /right-wrist-camera in RGB, and /left-wrist-ir1, /left-wrist-ir2, /right-wrist-ir1, /right-wrist-ir2 from the wrist depth cameras

  • /body-joint-state and /body-joint-command carrying all 35 motors with position, velocity, acceleration and torque, each with a timeline plot

  • /left-gripper-state, /right-gripper-state and their command counterparts for the Dex1-1 hands

  • /end-effector-state and /end-effector-action, plus /pivot.plot and /gripper-controls.plot

  • /ego-pose as foxglove.PoseInFrame, with /odometry.plot carrying body height, velocity and yaw rate

  • /body-imu.plot and /secondary-imu.plot

  • /instruction carrying the human-annotated subtask sequence: move to table, move table base, pick table leg, insert table leg to table base, rotate leg to tighten, rotate table base, flip table

  • Per-episode fields: episode_name, task, recording_day, subtasks, num_subtasks, num_frames, duration

License & attribution#

The source dataset is released under CC-BY-4.0; this subset is distributed under the same license. Changes from the source: episode subsetting and conversion from ROS 2 CDR to the FiftyOne MCAP flavor. Camera payloads are the source JPEGs passed through unchanged. The source recordings declare a SportModeState schema that omits its trailing path_point array; the field is restored at decode so the odometry stream reads.