RW-RL-HIL-Dataset: Real-World Reinforcement Learning Dataset With Human Intervention

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This open-source release from BodenAI is a human-intervention subset of the RW-RL-Dataset. It contains 82.23 hours of R1Lite household manipulation data collected during real-world policy deployment. When the policy entered a state it could not handle, an operator took over, corrected the behavior, and handed control back whenever recovery was completed.

The nine task directories preserve the policy's own trajectories together with human corrections, providing data for failure detection, recovery learning, value estimation, and real-world policy improvement. The measured duration below is computed from retained frames, replacing the earlier rounded 80-hour description.

Of 3,347 episodes, 3,068 contain at least one human intervention and 279 have no intervention frames in the saved annotations. The latter remain in the supplied directories and are included in all statistics below. Use has_intervention == true for a strictly intervention-containing subset. This is deployment data rather than staged teleoperation demonstrations recorded for their own sake.

This subset focuses on the RW-RL human intervention regime. It is designed to be combined with the teleoperation and autonomous-rollout data in the main RW-RL repository rather than to replace it.

Dataset Coverage and Demo

Scenario and embodiment coverage of the broader RW-RL data program. This release focuses on R1Lite human-intervention data.

RW-RL real-robot task demonstration.

Why Human Intervention Data?

An imitation-learning corpus tells a policy what the ideal trajectory looks like. It does not tell the policy what happens at the edge of its own competence, because that edge only exists once a specific policy is actually deployed. Intervention data is generated at that edge by construction.

Three properties make this kind of data hard to synthesize any other way:

• The takeover moment is a free failure label. The frame at which an experienced operator decides that the robot can no longer recover is a human judgment about impending failure, recorded without a separate annotation pass. The distribution of those moments is itself a training signal for failure detection, uncertainty estimation, and value learning.
• The correction is a recovery demonstration from an off-distribution state. The human does not start from a tidy reset pose. They start from wherever the policy stranded the robot, which is precisely the state distribution that demonstration-only datasets never cover.
• The hand-back is a re-entry point. After the correction, control returns to the policy from a state the policy did not create, which gives a natural evaluation and continuation boundary.

Subset at a Glance

Dimension	Description
Dataset	RW-RL-HIL-Dataset
Released by	BodenAI
Parent dataset	RW-RL-Dataset
Total duration	82.23 hours (measured from retained trajectories)
Tasks	9 household manipulation tasks
Robot	R1Lite
Data regime	Policy deployment with human intervention; includes 279 zero-intervention episodes
Scene domain	Household and daily-living environments
Episodes	3,347 (3,068 with intervention; 279 without)
Total frames	4,440,155
Total size	188.57 GB (175.62 GiB; logical file sizes across all nine directories)
Format	LeRobot v2.1: per-episode parquet and per-camera per-episode video, JSONL episode metadata
Video	15 FPS H.264, 640 × 360 (metadata specification)
Camera streams	3: head, left wrist, right wrist
Intervention labels	Per-frame control-authority flag and intervention segment boundaries

Position in the RW-RL Data Regimes

The RW-RL program defines three data regimes. This subset focuses on intervention during deployment, on a single embodiment; the supplied directories also retain episodes without a recorded takeover.

Regime	Covered here	Notes
Human teleoperation	No	Available in the main RW-RL repository.
Human intervention	Primary focus	3,068 episodes contain one or more contiguous intervention segments.
Autonomous rollout	Present	Policy-controlled segments occur within episodes; 279 episodes have no intervention frames. Absence of intervention does not imply task success.

Anatomy of an Intervention Episode

An episode containing intervention can follow the control-authority structure below. The per-frame flag and segment boundaries let you slice these phases directly.

Phase	Control authority	What it captures
Autonomous prefix	Policy	The policy executing on the real robot up to the point of trouble, including the drift that leads to failure.
Takeover	Human	The moment the operator judges that the policy cannot recover on its own.
Correction	Human	The recovery trajectory, starting from an off-distribution state the policy produced.
Hand-back	Policy	Control returns to the policy from a state it did not generate.

An episode may contain multiple takeover / correction / hand-back cycles. In the current data, 114 episodes end while intervention is still active, so a hand-back is not always recorded. The per-frame intervention flag is the authoritative source for control authority at any timestep.

Task Coverage

Nine household manipulation tasks, 82.23 measured hours total. The task identifiers below follow the RW-RL naming convention with the r1lite_ prefix. Statistics were computed on 2026-09-14 from the nine supplied task directories. Hours count synchronized trajectory time once, not once per camera.

Task folder	Description	Hours	Episodes	Video files
r1lite_wipe_table_and_furniture	Clear and wipe a cluttered tabletop and furniture surfaces	10.21	384	1,152
r1lite_spray_bottle_head_install	Install a spray head onto a bottle neck	10.63	424	1,272
r1lite_trash_bag_install	Fit and secure a new trash bag into a bin	10.25	461	1,383
r1lite_hang_clothes_on_rack	Hang garments on a drying rack or hanger	10.50	291	873
r1lite_fold_clothes	Fold garments on a flat surface	10.23	321	963
r1lite_plug_into_power_strip	Insert a plug into a power strip socket	4.13	275	825
r1lite_make_tea_and_drinks	Brew tea and prepare simple beverages	10.07	177	531
r1lite_tissue_box_replace	Replace tissues and perform routine desktop upkeep	6.02	509	1,527
r1lite_scoop_cat_litter	Scoop and dispose of cat litter clumps	10.18	505	1,515
Total		82.23	3,347	10,041

The policy that was running during collection is an internal VLA policy deployed on R1Lite. Intervention statistics therefore describe the competence boundary of that specific policy on these tasks, not an absolute difficulty ranking of the tasks themselves.

Intervention Duration and Time Share

The supplied analysis script was run on the server without filtering or removing episodes. It defines human control as intervention == true and segments as maximal contiguous runs of that flag, in frame_index order. The saved timestamp grid is 15 FPS in all nine directories; this is retained trajectory time, not raw capture wall-clock time.

The script computes episode time as last timestamp - first timestamp + median frame interval and sums frame intervals under human control for intervention time (using the median interval for the last frame). Frame-weighted share is sum(intervention frames) / sum(all frames); its difference from timestamp-weighted share is below 0.000001 percentage points in every task. Episode percentiles and histogram bins use intervention frames / episode length, with every episode weighted equally. Totals pool all frames, episodes, or segments as appropriate; they do not average task percentages.

Across the collection, 506,832 frames / 9.39 hours (11.41%) are under human control. There are 6,408 contiguous intervention segments, averaging 1.91 per episode and 5.27 seconds per segment. The median segment lasts 4.33 s, and the 90th percentile is 10.40 s. Per-episode intervention time (summing all segments, including zero-intervention episodes) has median 8.07 s and 90th percentile 22.00 s.

Task	Human time (h)	Human frame share	Episode share P50	Episode share P90	Zero-intervention episodes
Surface wiping	1.84	18.01%	16.04%	35.05%	12
Spray head installation	1.04	9.80%	9.06%	16.33%	0
Trash bag installation	1.58	15.41%	13.15%	24.94%	11
Garment hanging	1.55	14.74%	13.93%	22.20%	0
Garment folding	1.02	9.96%	9.29%	16.85%	0
Plug into power strip	0.61	14.73%	14.87%	19.08%	0
Tea preparation	0.80	7.97%	7.39%	14.36%	0
Tissue replacement	0.52	8.71%	8.58%	18.06%	159
Cat litter scooping	0.42	4.16%	2.63%	9.90%	97
All tasks	9.39	11.41%	10.56%	19.91%	279

Episode intervention-share distribution. Cells are episode counts. Intervals include the lower bound and exclude the upper bound; the last bin includes 100%. The first bin includes zero-intervention episodes. For readability, the script's bins at or above 30% are combined here; the full histogram, P10/P25/P50/P75/P90/P95 values, and threshold counts are in the machine-readable summary.

Task	[0, 5)%	[5, 10)%	[10, 15)%	[15, 20)%	[20, 25)%	[25, 30)%	[30, 100]%
Surface wiping	23	49	107	65	45	26	69
Spray head installation	69	159	125	71	0	0	0
Trash bag installation	37	105	131	68	75	28	17
Garment hanging	17	53	92	79	39	11	0
Garment folding	57	117	82	65	0	0	0
Plug into power strip	1	20	121	133	0	0	0
Tea preparation	37	96	28	16	0	0	0
Tissue replacement	200	88	123	98	0	0	0
Cat litter scooping	367	90	29	19	0	0	0
All tasks	808	777	838	614	159	65	86

Continuous intervention segment duration. Duration is (end_frame - start_frame + 1) / 15 seconds. Percentiles use linear interpolation across all segments in the indicated task. Episodes without intervention contribute no segments to this table; segments still active at an episode's end are included at their observed length, so these durations do not imply a completed recovery.

Task	Segments	Mean (s)	P50 (s)	P90 (s)	P95 (s)	Max (s)
Surface wiping	628	10.54	10.07	15.53	18.00	47.20
Spray head installation	915	4.10	3.80	7.04	8.53	17.60
Trash bag installation	701	8.11	7.53	13.07	15.47	26.93
Garment hanging	1,515	3.68	3.00	6.53	8.22	21.80
Garment folding	515	7.12	6.67	11.31	13.40	24.33
Plug into power strip	422	5.19	5.77	9.46	10.33	14.07
Tea preparation	597	4.84	4.20	8.36	10.41	29.13
Tissue replacement	525	3.60	3.20	6.67	7.72	14.67
Cat litter scooping	590	2.59	1.93	5.00	6.64	14.93
All tasks	6,408	5.27	4.33	10.40	12.80	47.20

To reproduce the per-task time-share analysis on a machine with the data and numpy, pandas, and pyarrow installed:

python scripts/analyze_lerobot_intervention.py /path/to/task_dataset \
  --thresholds 15,20,25,30

All 10,041 expected video paths (three per episode) exist. Counts above come from the filesystem: meta/info.json has stale total_videos values for trash bag installation (423 versus 1,383 actual), spray head installation (276 versus 1,272), and surface wiping (90 versus 1,152). These server files were left unchanged. Video existence and metadata specifications were checked; videos were not decoded for this analysis.

Intervention Annotations

Beyond the standard RW-RL video, state, and action fields, this subset adds the control-authority labels that make the data usable for human-in-the-loop learning.

Annotation	Location	Description
Per-frame control authority	data/chunk-*/episode_*.parquet	Boolean intervention: true means human control; false means policy control. control_source is respectively "intervention" or "policy".
Source segment index	Same parquet	intervention_segment_index is the recorded segment label. It can differ from the contiguous-run numbering reconstructed in episode metadata; use the boolean flag to slice control authority.
Episode intervention summary	meta/episodes.jsonl	has_intervention, intervention_segments, intervention_frames, and intervention_ranges, rebuilt from the parquet flag.

Each meta/episodes.jsonl line has exactly these fields, matching the target sample:

{"episode_index": 1, "tasks": ["scoop_cat_litter_into_trash_can"], "length": 981, "has_intervention": true, "intervention_segments": 1, "intervention_frames": 125, "intervention_ranges": [{"segment_index": 0, "start_frame": 702, "end_frame": 826}]}

Frame indices are episode-local, zero-based, and both endpoints are inclusive. Segment indices start at 0 within each episode. The invariants are intervention_segments == len(intervention_ranges) and intervention_frames == sum(end_frame - start_frame + 1). An episode without intervention has has_intervention: false, both counts set to 0, and an empty intervention_ranges list. Existing episode order, episode_index, tasks, and length are preserved; other collection-time metadata fields are omitted from this normalized file.

The boolean flag and control_source agree on all 4,440,155 frames. The original parquet intervention_segment_index differs from reconstructed contiguous-run labels on 4,567 frames; parquet files remain unchanged. Rebuilding also corrected pre-existing intervention summaries in 42 episodes. Consumers should use the normalized ranges or derive runs directly from intervention, rather than assuming source segment labels equal the new segment_index values.

This release does not ship scalar reward values, done flags, structured intervention reasons, or episode-level success labels. The control-authority signal is intended to be used directly as an intervention-based supervision signal, in the style of HG-DAgger, interactive imitation learning, and RLPD-style off-policy methods that treat human actions as high-value transitions.

Quality Control

The collection workflow uses automated checks for motion, physical ranges, synchronization, and episode completeness. This metadata reconstruction did not rerun those collection-time quality checks or certify every episode against a timing-error threshold. Collection-time quality fields are omitted from the normalized episodes.jsonl schema.

For this update, all 3,347 episode parquet files were checked against their metadata: episode IDs and lengths agree, frame indices are contiguous from zero, timestamps are finite and increasing, and intervention flags agree with control_source. Reconstructed ranges cover exactly the intervention frames and respect episode boundaries. All expected camera video paths exist. Zero-intervention episodes, source segment-label differences, and intervention-active episode endings are reported above.

File Layout

Each task folder is organized as follows:

<task_name>/
  data/
    chunk-000/
      episode_000000.parquet
      episode_000001.parquet
      ...
  videos/
    chunk-000/
      observation.images.cam_high/
        episode_000000.mp4
        ...
      observation.images.cam_left_wrist/
        episode_000000.mp4
        ...
      observation.images.cam_right_wrist/
        episode_000000.mp4
        ...
  meta/
    info.json
    tasks.jsonl
    episodes.jsonl
    episodes_stats.jsonl  # present in some tasks
    stats.json           # present in some tasks

The LeRobot v2.1 path templates in meta/info.json are:

data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet
videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4

With chunks_size = 1000, episode_chunk = episode_index // 1000. Filenames use the global episode_index, not an index modulo the chunk size. meta/episodes.jsonl stores one JSON object per episode and retains the standard episode_index, tasks, and length fields.

Modalities and Fields

The inspected files expose the following synchronized fields. State and action vectors each have 14 components; component names are not provided in the current feature metadata.

Group	Fields
Multi-view video	observation.images.cam_high, observation.images.cam_left_wrist, observation.images.cam_right_wrist
Robot state	observations.state.qpos (14-dimensional)
Robot action	action.qpos (14-dimensional)
Control authority	intervention, control_source, intervention_segment_index
Episode indexing and time	timestamp, capture_time, frame_index, episode_index, index, task_index

Downloading a Subset

Use huggingface_hub to download a single task folder without pulling the entire repository:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="BodenAI/RW-RL-HIL-Dataset",
    repo_type="dataset",
    allow_patterns=[
        "r1lite_scoop_cat_litter/**",
    ],
    local_dir="RW-RL-HIL",
)

To inspect only metadata first:

from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="BodenAI/RW-RL-HIL-Dataset",
    repo_type="dataset",
    allow_patterns=[
        "*/meta/**",
    ],
    local_dir="RW-RL-HIL-meta",
)

How This Subset Complements the RW-RL Releases

Several of the task templates here also appear in the main RW-RL repository. That overlap is intentional: the same task template can be paired across regimes, so a policy can be pretrained on the demonstration data and then corrected with intervention data from the same task family.

Task template	Main RW-RL repository	This subset
Spray bottle head install	r1lite_spray_bottle_head_install, so101_insert_spray_pump_bottle_neck — teleoperated demonstrations	r1lite_spray_bottle_head_install — intervention traces during deployment
Tissue box replacement	r1lite_tissue_box_replace — teleoperated demonstrations	r1lite_tissue_box_replace — intervention traces during deployment
Plug into power strip	r1lite_plug_charger_to_power_strip, so101_plug_power_cord_socket — teleoperated demonstrations	r1lite_plug_into_power_strip — intervention traces during deployment
Fold clothes	so101_fold_clothes_left_stack_right — teleoperated demonstrations, SO101 embodiment	r1lite_fold_clothes — intervention traces on R1Lite

The remaining five tasks — surface wiping, trash bag installation, garment hanging, beverage preparation, and cat litter scooping — extend the RW-RL program into long-tail household chores that are not covered by the industrial, logistics, and retail domains in the main repository.

Intended Use and Limitations

This dataset is built for a specific research setting, and reading it as a general-purpose imitation corpus will produce misleading results.

• Selection bias is substantial. These directories come from intervention-oriented deployment collection and processing. They include 279 episodes without recorded intervention, but are not an unbiased sample of policy rollouts and have no episode-level success labels. Intervention absence cannot be used as a success label or to estimate the deployed policy's success rate.
• The action stream is mixed-authority. Within a single episode, some actions come from the policy and some from the human. Training a behavior-cloning policy on the concatenated stream without reading the control-authority flag will fit a controller that does not exist. Filter or weight by the flag.
• Intervention timing reflects operator judgment. Different operators take over at different thresholds of perceived risk. The takeover distribution encodes human caution as well as robot failure.
• Statistics are policy-specific. Intervention rates characterize the deployed policy at collection time. They will not transfer to a different policy or a later checkpoint.

License

This dataset is released under CC BY 4.0. You may share and adapt the material, including for commercial purposes, provided that you give appropriate credit and indicate whether changes were made.

Project Links

• Parent dataset: https://huggingface.co/datasets/MINT-SJTU/RW-RL-Dataset
• RW-RL GitHub: https://github.com/MINT-SJTU/Evo-RL
• This dataset: https://huggingface.co/datasets/BodenAI/RW-RL-HIL-Dataset
• BodenAI: https://huggingface.co/BodenAI
  • Offical Website: https://www.boden.ai/
  • Github: https://github.com/BodenAI
  • Linkedin: https://www.linkedin.com/company/bodenai
  • X: https://x.com/BodenAI

Citation

If you use this subset, please cite both this release and the parent RW-RL Dataset.

@misc{rw_rl_human_intervention_2026,
  title        = {RW-RL-HIL-Dataset: Real-World Reinforcement Learning Dataset With Human Intervention},
  author       = {BodenAI},
  year         = {2026},
  howpublished = {https://huggingface.co/datasets/BodenAI/RW-RL-HIL-Dataset}
}

@misc{rw_rl_dataset_2026,
  title        = {RW-RL Dataset: Real-World Reinforcement Learning Dataset},
  author       = {Boden Intelligence and Junpu Innovation Center and MINT Lab, Shanghai Jiao Tong University},
  year         = {2026},
  howpublished = {https://huggingface.co/datasets/MINT-SJTU/RW-RL-Dataset}
}