This dataset contains simulated and real-world Humanoid OmniOcc data. It primarily provides:
Simulated RGB images;
Robot state, action, and camera-pose metadata;
Semantic occupancy grids;
Real-world stereo images, merged point clouds, and occupancy grids.
The simulated subset contains 1,367 episodes, and the real-world subset contains 25 scenes. To support selective downloading and reliable transfer of this large dataset… See the full description on the dataset page:
https://huggingface.co/datasets/wrl2003/Humanoid-OmniOCC.
