introvoyz0412025mit
OmniRetarget Dataset: Humanoid Loco-Manipulation & Scene Interaction
Motion trajectories of a G1 humanoid robot interacting with objects and complex terrains, generated by an interaction-preserving data generation engine that produces kinematically feasible trajectories without common artifacts like foot-skating and penetration.
Downloads26
Hours4.0
Why This Matters for Physical AI
This dataset provides high-quality, interaction-preserving motion trajectories for humanoid loco-manipulation tasks, enabling training of embodied AI systems that can perform complex whole-body manipulation and locomotion in challenging scenarios.
Technical Profile
- Modalities
- proprioception
- Robot Embodiments
- G1 humanoid
- Action Space
- joint_positions
- Environment
- simulation
- Task Types
- loco-manipulationobject_interactionterrain_traversal
- Total Hours
- 4.0
- Data Format
- npz
- License
- mit
Access
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