For embodied AI systems to assist humans in the real world, we must consider human factors in all aspects. In this talk, I'll introduce our recent work on developing human-centered embodied AI, including assets, environments, tasks, and learning algorithms. What is shared across all these works is our choice of structured representations inspired by human sensory observations, skills, and behaviors. I will discuss how we design the representations, and how we use them to collect assets, build environments, design tasks, and finally develop algorithms to solve embodied AI problems.