Long-horizon household tasks

Embodiment: mobile manipulator or a bimanual setup in a real home, teleoperated; or egocentric human with hand pose.
Modalities: RGB from head or base and wrists, depth, joint states and actions.
Tasks: multi-step chores of 2 to 10 minutes each: tidying a room, loading a dishwasher, making a bed, putting away groceries.
Labels: overall task plus sub-step boundaries with short language descriptions.
Environment: at least 15 distinct real homes.
Consent: every person in frame signs a recording and licensing consent separate from their employment; bystanders consent or are blurred; consent records uploaded with the data. Household members not taking part stay out of frame.
Format: LeRobot v3.0 (we can convert v2.1, MCAP or raw video with Prep). Acceptance: passes Soul Verified validation (decodes, streams in sync, every episode labelled) on a 2 hour sample before the full order. Rate is final after the sample is validated.
Rate: $90 to $120 per capture hour, final on validation.