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omniretargetmit

OmniRetarget Dataset: Humanoid Loco-Manipulation & Scene Interaction

Motion trajectories of a G1 humanoid robot interacting with objects and complex terrains, generated by OMNIRETARGET to produce high-quality, kinematically feasible trajectories free of common artifacts like foot-skating and penetration.

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Likes44

Technical Profile

Modalities
proprioception
Robot Embodiments
G1 humanoid
Environment
simulation
Task Types
loco-manipulationobject_interactionterrain_interactionlocomotion
Data Format
npz
License
mit
Part of the OmniRetarget Dataset: Humanoid Loco-Manipulation & Scene Interaction family

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