CLARU
datamentorshf2026cc-by-4.0, mit

G1 Movement Dataset

Motion-capture clips retargeted to the Unitree G1 humanoid robot, provided in multiple formats (raw mocap CSV, SONIC-format CSVs, and Humanoid-GPT NPZ) for training and simulation.

Downloads445

Technical Profile

Modalities
motion_capturejoint_positionsjoint_velocitiesbody_posebody_linear_velocitybody_angular_velocity
Robot Embodiments
Unitree G1humanoid
Environment
motion_capture_studio
Task Types
humanoid_motionlocomotionmovement_retargeting
Data Format
CSV, NPZ
License
cc-by-4.0, mit
Part of the G1 Movement Dataset family

Access

View on HuggingFace

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