CLARU
omniretarget2025mit

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.

Downloads798
Hours4.0
Likes43

Why This Matters for Physical AI

This dataset provides high-quality, artifact-free motion trajectories for humanoid whole-body loco-manipulation and scene interaction, enabling training of robust policies for complex robot behavior combining locomotion and object handling.

Technical Profile

Modalities
proprioception
Robot Embodiments
G1 humanoid
Action Space
joint_positions
Environment
simulation
Task Types
loco-manipulationobject_interactionterrain_interactionlocomotion
Total Hours
4.0
Data Format
npz
License
mit
Part of the OmniRetarget family

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