There is a renewed interest of the Sarawak government to develop the highlands in the Sarawak Corridor of Renewable Energy (SCORE). However, studies on the perception of the highlanders towards development are scanty. To understand the anticipations of the highlanders and the perceived barriers of development, this study adopted a quantitative approach involving a questionnaire survey among 236 households in the Upper Baram and Mulu. The survey shows that the participants generally welcomed development but were unsure of the modes of development to adopt. In terms of the type of development, most participants preferred rice cultivation and handicraft-making. Most participants in Mulu desired to engage as entrepreneurs while those in Bario and IHAS area were keen on employment. A lack of capital and manpower was perceived as the major barrier of development at individual level. At the community level, the major barriers are remoteness of the settlements and the lack of basic infrastructure and facilities. To optimize the outcomes of development, this study calls for an in-depth understanding of the highlanders’ worldview.