datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
Retargeted_AMASS_for_bxi_elf2
Retargeted AMASS for Robotics
Project Overview
This project aims to retarget motion data from the AMASS dataset to various robot models and open-source the retargeted data to facilitate research and applications in robotics and human-robot interaction. AMASS (Archive of Motion Capture as Surface Shapes) is a high-quality human motion capture dataset, and the SMPL-X model is a powerful tool for generating realistic human motion data.
By adapting the motion data from AMASS… See the full description on the dataset page: https://huggingface.co/datasets/fleaven/Retargeted_AMASS_for_bxi_elf2.Retargeted_AMASS_for_FourierN1
Retargeted AMASS for Robotics
Project Overview
This project aims to retarget motion data from the AMASS dataset to various robot models and open-source the retargeted data to facilitate research and applications in robotics and human-robot interaction. AMASS (Archive of Motion Capture as Surface Shapes) is a high-quality human motion capture dataset, and the SMPL-X model is a powerful tool for generating realistic human motion data.
By adapting the motion data from AMASS… See the full description on the dataset page: https://huggingface.co/datasets/fleaven/Retargeted_AMASS_for_FourierN1.Retargeted_AMASS_for_robotics
Retargeted AMASS for Robotics
Project Overview
This project aims to retarget motion data from the AMASS dataset to various robot models and open-source the retargeted data to facilitate research and applications in robotics and human-robot interaction. AMASS (Archive of Motion Capture as Surface Shapes) is a high-quality human motion capture dataset, and the SMPL-X model is a powerful tool for generating realistic human motion data.
By adapting the motion data from AMASS… See the full description on the dataset page: https://huggingface.co/datasets/fleaven/Retargeted_AMASS_for_robotics.AMASS_Retargeted_for_G1
Retargeted AMASS Dataset for G1
This repository contains 100% of the AMASS dataset retargeted to the G1 humanoid and formatted for use with IsaacLab's AMP motion loader.
It should also be compatible with ProtoMotions.
The retargeting data is taken from https://huggingface.co/datasets/fleaven/Retargeted_AMASS_for_robotics
h2_retargeted_motions
H2 retargeted motions (full corpus)
129,785 Bones-SEED motions retargeted onto the Unitree H2 (31 DoF, 32
bodies) with SOMA Retargeter.
This is the corpus that trained
junsooki/h2_checkpoints.
A 10-clip sample for quick trials lives at
junsooki/h2_reference_motions.
Format
One joblib pickle per clip, keyed by motion name:
field
shape
meaning
dof
(T, 31)
joint angles, IsaacLab order
root_trans_offset
(T, 3)
root position, metres
root_rot
(T, 4)
root… See the full description on the dataset page: https://huggingface.co/datasets/junsooki/h2_retargeted_motions.LAFAN1_Retargeting_Dataset
LAFAN1 Retargeting Dataset
To make the motion of humanoid robots more natural, we retargeted LAFAN1 motion capture data to Unitree's humanoid robots, supporting three models: H1, H1_2, and G1. This retargeting was achieved through numerical optimization based on Interaction Mesh and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the retargeting only accounted for kinematic… See the full description on the dataset page: https://huggingface.co/datasets/lvhaidong/LAFAN1_Retargeting_Dataset.vr_m3_soma_retargeteRetargeted_AMASS_for_robotics
Retargeted AMASS for Robotics
Project Overview
This project aims to retarget motion data from the AMASS dataset to various robot models and open-source the retargeted data to facilitate research and applications in robotics and human-robot interaction. AMASS (Archive of Motion Capture as Surface Shapes) is a high-quality human motion capture dataset, and the SMPL-X model is a powerful tool for generating realistic human motion data.
By adapting the motion data… See the full description on the dataset page: https://huggingface.co/datasets/introvoyz041/Retargeted_AMASS_for_robotics.retarget-rerunmusclemimic-retargeted
MuscleMimic GMR Retargeted Motions
MuscleMimic paper: Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale.
Pre-retargeted motion capture data for the MyoFullBody musculoskeletal model,
generated using General Motion Retargeting (GMR).
Dataset Groups
Group
Motions
Description
KIT_KINESIS_TRAINING_MOTIONS
972
KIT locomotion training set
KIT_KINESIS_TESTING_MOTIONS
108
KIT locomotion test set… See the full description on the dataset page: https://huggingface.co/datasets/amathislab/musclemimic-retargeted.retarget_example
license: apache-2.0
g1-retargeted-motions
Unitree G1 Retargeted Motion Dataset
A comprehensive collection of human motion data retargeted to the Unitree G1 humanoid robot. This dataset contains 174 motion sequences spanning diverse categories including locomotion, dance, sports, and expressive movements.
Dataset Overview
This dataset provides motion data in a unified format suitable for training humanoid robot control policies. All motions have been retargeted from human motion capture data (SMPL format) to the… See the full description on the dataset page: https://huggingface.co/datasets/openhe/g1-retargeted-motions.hoi-retarget
HOI-Retarget — Humanoid Human–Object Interaction Motion
Project page · Code · 3D viewer · Paper: manuscript under review
Learning from demonstration (LfD) has enabled humanoid robots to acquire diverse whole-body
skills, but extending this paradigm to human-object interaction (HOI) is limited by the
availability of robot-compatible interaction references. We present HOI-Retarget, a
contact-centric retargeting method that transfers HOI onto a humanoid robot for large-scale… See the full description on the dataset page: https://huggingface.co/datasets/shinben0327/hoi-retarget.g1-ffmaster-retarget
Unitree G1 → FF Master Retarget
🌐 Interactive web viewer (play motions in the browser):https://zhiyangrobot.github.io/g1-ffmaster-retarget/
FF Master joint CSVs retargeted from Unitree G1 MotionDecode clips, plus a browser bake used by the viewer above.
Download CSV
Path
What
csv/ff_master/
FF Master joint CSVs (retargeted output — primary download)
CMRobot/MotionDecode samples/
Unitree G1 source CSVs (do not re-host here)
Example FF Master… See the full description on the dataset page: https://huggingface.co/datasets/zhiyangrobot/g1-ffmaster-retarget.Contact_LAFAN1_Retargeting_DatasetLafan1_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… See the full description on the dataset page: https://huggingface.co/datasets/Cryyzz/Lafan1_Retarget_To_BUMI-GMR.retargeted_motionsg1-retargeted-motions
Unitree G1 Retargeted Motion Dataset
A comprehensive collection of human motion data retargeted to the Unitree G1 humanoid robot. This dataset contains 174 motion sequences spanning diverse categories including locomotion, dance, sports, and expressive movements.
Dataset Overview
This dataset provides motion data in a unified format suitable for training humanoid robot control policies. All motions have been retargeted from human motion capture data (SMPL format)… See the full description on the dataset page: https://huggingface.co/datasets/introvoyz041/g1-retargeted-motions.aldarondo2024-retargeted
Aldarondo 2024 locomotion retargeted to Fetch
This dataset contains the strict locomotion subset of all 38 sessions from the
coltrane rat in Aldarondo et al. (2024), deterministically retargeted onto the
unmodified 10-DoF Brax v1 Fetch body. It is the data-only input to Demo F in the
Embodied SSL + RL workshop.
Each row is a non-overlapping 64-frame trajectory sampled at 50 Hz. Rows contain
only the derived Fetch trajectory and source provenance; raw rat keypoints,
neural… See the full description on the dataset page: https://huggingface.co/datasets/MarksonChen/aldarondo2024-retargeted.LAFAN1_Retargeting_Dataset
LAFAN1 Retargeting Dataset
To make the motion of humanoid robots more natural, we retargeted LAFAN1 motion capture data to Unitree's humanoid robots, supporting three models: H1, H1_2, and G1. This retargeting was achieved through numerical optimization based on Interaction Mesh and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the retargeting only accounted for kinematic… See the full description on the dataset page: https://huggingface.co/datasets/introvoyz041/LAFAN1_Retargeting_Dataset.musclemimic-bimanual-retargeted
MuscleMimic GMR Retargeted Motions
MuscleMimic paper: Towards Embodied AI with MuscleMimic: Unlocking full-body musculoskeletal motor learning at scale.
Pre-retargeted motion capture data for the MyoBimanualArm musculoskeletal model,
generated using General Motion Retargeting (GMR).
Dataset Groups
Group
Motions
Description
AMASS_BIMANUAL_TRAIN_MOTIONS
1770
AMASS upper limb training set
AMASS_BIMANUAL_TEST_MOTIONS
312
AMASS upper limb test set… See the full description on the dataset page: https://huggingface.co/datasets/amathislab/musclemimic-bimanual-retargeted.lafan_retargetedxwbc-retarget-data
xwbc-retarget-data
Cross-embodiment retargeted motion data for humanoid robots.
Datasets
Source
Description
Robots
amass/
Retargeted AMASS motions (~13k clips per robot)
16 robots
lafan/
Retargeted LAFAN1 motions
16 robots
Robots
unitree_g1_29dof, unitree_g1_23dof, unitree_h1, unitree_h1_2,
berkeley_humanoid_lite, booster_k1, booster_t1, booster_t1_29dof,
engineai_pm01, fourier_gr3, fourier_n1, hightorque_hi,
kuavo_s45, pal_talos… See the full description on the dataset page: https://huggingface.co/datasets/TonyZhang1999/xwbc-retarget-data.LAFAN1_Retargeting_Dataset
LAFAN1 Retargeting Dataset
To make the motion of humanoid robots more natural, we retargeted LAFAN1 motion capture data to Unitree's humanoid robots, supporting three models: H1, H1_2, and G1. This retargeting was achieved through numerical optimization based on Interaction Mesh and IK, considering end-effector pose constraints, as well as joint position and velocity constraints, to prevent foot slippage. It is important to note that the retargeting only accounted for kinematic… See the full description on the dataset page: https://huggingface.co/datasets/asgardtim/LAFAN1_Retargeting_Dataset.robotsim-retargeted-g1-samples
robotsim retargeted (G1) - 10 sample preview
10 retargeted motion CSVs from the internal robotsim v0.3 retargeted dataset
(anims_uniform_g1skel_retarget_newton_v1). Each CSV is one motion track;
rows are frames, columns are joint-space pose channels for the Unitree G1
robot. First retargeting using the Newton-based retargeter (NOVA -> G1).
Layout
CSV/<capture_date_YYMMDD>/<motion_name>__A<id>.csv
10 motions sampled randomly with seed=42 across the 125 capture dates.… See the full description on the dataset page: https://huggingface.co/datasets/ryji/robotsim-retargeted-g1-samples.Adam-pro-soma-retargetmm-BONES-retargetedpiper-retargeted
piper-retargeted
Human demonstrations retargeted to an AgileX Piper arm with the Fidelity
Dynamics dt-pipeline (stage 6). Two datasets, one repo.
archive
size
clips
frames
source
piper_ego_retargeted.tar
2.2 GB
1,574
164,601
EgoDex-derived egocentric pick-and-place (ego_filtered, LeRobot v3.0, 30 tasks)
piper_stera_plate_retargeted.tar
332 MB
226
30,584
stera-10m plate handling (plate200_pp)
Each archive is self-contained: the observation video sits in the same… See the full description on the dataset page: https://huggingface.co/datasets/angkul07/piper-retargeted.Public_Retargeted
Long_retareged
This dataset card aims to be a base template for new datasets. It has been generated using this raw template.
Dataset Details
Dataset Description
Curated by: [More Information Needed]
Funded by [optional]: [More Information Needed]
Shared by [optional]: [More Information Needed]
Language(s) (NLP): [More Information Needed]
License: [More Information Needed]
Dataset Sources [optional]
Repository: [More Information Needed]… See the full description on the dataset page: https://huggingface.co/datasets/OpenLoong/Public_Retargeted.Retargeted_AMASS_for_robotics
Retargeted AMASS for Robotics
Project Overview
This project aims to retarget motion data from the AMASS dataset to various robot models and open-source the retargeted data to facilitate research and applications in robotics and human-robot interaction. AMASS (Archive of Motion Capture as Surface Shapes) is a high-quality human motion capture dataset, and the SMPL-X model is a powerful tool for generating realistic human motion data.
By adapting the motion data… See the full description on the dataset page: https://huggingface.co/datasets/SAIFIINDUSTRIES/Retargeted_AMASS_for_robotics.