Cryyzz/Lafan1_Retarget_To_BUMI-GMR

LAFAN1 to BUMI — Generalized Motion Retargeting Dataset

Dataset Description

This dataset contains retargeted motion data transferred from the LAFAN1 human motion capture dataset onto the BUMI V3.0 bipedal humanoid robot using a two-pass inverse kinematics (IK) pipeline. The resulting joint trajectories are ready to use for robot learning, imitation learning, and motion control research.

• —Repository: Cryyzz/lafan1-to-bumi-gmr
• —License: CC-BY-NC-4.0
• —Robot: BUMI V3.0 — 21-DOF bipedal humanoid
• —Source motion: LAFAN1 (BVH format)

Files

Robot Model Files

The following model files are used for simulation and retargeting. Please refer to the BUMI robot platform for the full model package (meshes + URDF/MJCF).

Robot: BUMI V3.0

BUMI V3.0 is a 21-DOF bipedal humanoid robot with symmetric left/right limb design.

Kinematic structure:

base_link
├── waist_yaw_link
│   ├── l_arm_pitch → l_arm_roll → l_arm_yaw → l_elbow_pitch → [l_hand_link]
│   └── r_arm_pitch → r_arm_roll → r_arm_yaw → r_elbow_pitch → [r_hand_link]
├── l_leg_pitch → l_leg_roll → l_leg_yaw → l_knee_pitch → l_ankle_pitch → l_ankle_roll
└── r_leg_pitch → r_leg_roll → r_leg_yaw → r_knee_pitch → r_ankle_pitch → r_ankle_roll

Joint count by body part:

Retargeting Pipeline

The retargeting uses a two-pass IK strategy defined in bvh_lafan1_to_bumi.json.

Scale Factors (human_scale_table)

Human bone lengths are scaled down to match BUMI's proportions before IK solving (assuming a reference human height of 1.8 m):

IK Pass 1 (ik_match_table1) — Coarse Alignment

Emphasises rotation matching across the whole body. The torso (waist_yaw_link) is given a high rotation weight (100) to anchor the upper body orientation first. Arm and leg segments are aligned with moderate weights.

IK Pass 2 (ik_match_table2) — Fine End-Effector Matching

Increases position weights on the root (base_link) and end-effectors (l_hand_link, r_hand_link, l_ankle_roll_link, r_ankle_roll_link) to achieve accurate foot placement and hand positioning.

IK Entry Format

"robot_link": ["human_bone", position_weight, rotation_weight, [pos_offset_x, y, z], [quat_w, x, y, z]]

Source Dataset

LAFAN1 — A large-scale human motion capture dataset for locomotion and action research.

Human skeleton bones used in this retargeting: Hips, Spine2, LeftUpLeg, RightUpLeg, LeftLeg, RightLeg, LeftFootMod, RightFootMod, LeftArm, RightArm, LeftForeArm, RightForeArm, LeftHand, RightHand

Intended Uses

• —Humanoid robot imitation learning
• —Motion control policy training
• —Sim-to-real transfer research
• —Benchmarking motion retargeting methods

Out-of-Scope Uses

• —Commercial use (see CC-BY-NC-4.0 license)
• —Direct deployment on physical robots without safety validation

Citation

If you use this dataset in your research, please cite the LAFAN1 dataset and the BUMI robot platform:

@dataset{cryyzz2025lafan1bumi,
  author    = {Cryyzz},
  title     = {LAFAN1 to BUMI Generalized Motion Retargeting Dataset},
  year      = {2025},
  publisher = {Hugging Face},
  url       = {https://huggingface.co/datasets/Cryyzz/lafan1-to-bumi-gmr}
}

LAFAN1 到 BUMI — 通用动作重定向数据集

数据集简介

本数据集包含从 LAFAN1 人体动作捕捉数据集重定向到 BUMI V3.0 双足人形机器人的动作数据，采用两轮逆运动学（IK）流程生成。输出的关节轨迹可直接用于机器人学习、模仿学习和运动控制研究。

• —仓库： Cryyzz/lafan1-to-bumi-gmr
• —许可证： CC-BY-NC-4.0
• —机器人： BUMI V3.0 — 21 自由度双足人形机器人
• —源动作数据： LAFAN1（BVH 格式）

文件说明

机器人模型文件

以下模型文件用于仿真和重定向计算，完整模型包（含 STL 网格 + URDF/MJCF）请参阅 BUMI 机器人平台：

机器人：BUMI V3.0

BUMI V3.0 是一款具有 21 个自由度的双足人形机器人，采用左右对称肢体设计。

运动学链结构：

base_link
├── waist_yaw_link
│   ├── l_arm_pitch → l_arm_roll → l_arm_yaw → l_elbow_pitch → [l_hand_link]
│   └── r_arm_pitch → r_arm_roll → r_arm_yaw → r_elbow_pitch → [r_hand_link]
├── l_leg_pitch → l_leg_roll → l_leg_yaw → l_knee_pitch → l_ankle_pitch → l_ankle_roll
└── r_leg_pitch → r_leg_roll → r_leg_yaw → r_knee_pitch → r_ankle_pitch → r_ankle_roll

各部位自由度：

重定向流程

重定向采用 bvh_lafan1_to_bumi.json 中定义的两轮 IK 策略。

缩放比例（human_scale_table）

在 IK 求解前，将人体骨骼长度按比例缩放至 BUMI 的体型（参考人体身高 1.8 m）：

第一轮 IK（ik_match_table1）— 粗粒度对齐

强调全身旋转匹配。躯干（waist_yaw_link）旋转权重设为 100，优先锁定上身姿态方向；手臂和腿部以中等权重进行对齐。

第二轮 IK（ik_match_table2）— 末端精细匹配

提高根节点（base_link）和末端执行器（l_hand_link、r_hand_link、l_ankle_roll_link、r_ankle_roll_link）的位置权重，实现精确的落脚点和手部位置控制。

IK 配置格式

"机器人连杆": ["人体骨骼", 位置权重, 旋转权重, [位置偏移 x, y, z], [四元数 w, x, y, z]]

源数据集

LAFAN1 — 大规模人体动作捕捉数据集，覆盖多种运动和动作类别。

本重定向使用的人体骨骼节点： Hips、Spine2、LeftUpLeg、RightUpLeg、LeftLeg、RightLeg、LeftFootMod、RightFootMod、LeftArm、RightArm、LeftForeArm、RightForeArm、LeftHand、RightHand

适用场景

• —人形机器人模仿学习
• —运动控制策略训练
• —仿真到现实（Sim-to-Real）迁移研究
• —动作重定向方法的基准测试

不适用场景

• —商业用途（见 CC-BY-NC-4.0 许可证）
• —未经安全验证直接部署到真实机器人上

引用

如果您在研究中使用了本数据集，请引用 LAFAN1 数据集和 BUMI 机器人平台：

@dataset{cryyzz2025lafan1bumi,
  author    = {Cryyzz},
  title     = {LAFAN1 to BUMI Generalized Motion Retargeting Dataset},
  year      = {2025},
  publisher = {Hugging Face},
  url       = {https://huggingface.co/datasets/Cryyzz/lafan1-to-bumi-gmr}
}