Datasets:
npz dict | __key__ stringlengths 44 126 | __url__ stringclasses 1
value |
|---|---|---|
{"body_ang_vel_w":[[[-0.24390101432800293,0.32476547360420227,-3.4028491973876953],[-0.6097150444984(...TRUNCATED) | berkeley_humanoid_lite/BMLmovi__Subject_90_F_MoSh__Subject_90_F_7_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[1.3641290664672852,-0.6813774704933167,13.043412208557129],[-2.891263484954834,(...TRUNCATED) | berkeley_humanoid_lite/WEIZMANN__69__Slow_SShapeRL(22)_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[0.6903499960899353,-0.18100737035274506,-2.9265918731689453],[-0.79964601993560(...TRUNCATED) | berkeley_humanoid_lite/KIT__674__wash_front01_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[-0.010668933391571045,0.10126592963933945,-1.4608347415924072],[0.6608297824859(...TRUNCATED) | berkeley_humanoid_lite/BMLmovi__Subject_81_F_MoSh__Subject_81_F_3_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[-0.003615099471062422,-0.8606818318367004,-0.9056909680366516],[4.1627688407897(...TRUNCATED) | berkeley_humanoid_lite/GRAB__s6__camera_pass_1_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[0.19451746344566345,0.5853471755981445,-0.9001013040542603],[0.1375281065702438(...TRUNCATED) | berkeley_humanoid_lite/GRAB__s7__binoculars_see_1_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[0.49437010288238525,0.14106003940105438,-0.34483763575553894],[0.50026088953018(...TRUNCATED) | berkeley_humanoid_lite/CMU__135__135_05_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[0.37946391105651855,0.36151060461997986,2.3972291946411133],[-2.634558200836181(...TRUNCATED) | berkeley_humanoid_lite/CMU__60__60_08_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[-1.366480827331543,-2.2880465984344482,21.2294921875],[-12.001785278320312,4.38(...TRUNCATED) | berkeley_humanoid_lite/KIT__551__egg_whisk06_stageii | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
{"body_ang_vel_w":[[[0.19409306347370148,-0.15697534382343292,0.2385057508945465],[-0.36888536810874(...TRUNCATED) | "berkeley_humanoid_lite/EyesJapanDataset__Eyes_Japan_Dataset__hamada__jump-04-horizontal-hamada_stag(...TRUNCATED) | "hf://datasets/TonyZhang1999/xwbc-retarget-data@d5ccb674b540bcfa8794b9aa8a56f2dae905bf10/amass/berke(...TRUNCATED) |
End of preview. Expand in Data Studio
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, pnd_adam_lite, tienkung
Usage
# Install
pip install huggingface_hub
# Download specific robot
huggingface-cli download TonyZhang1999/xwbc-retarget-data amass/unitree_g1_29dof.tar.gz --repo-type dataset --local-dir ./data
# Extract
tar -xzf data/amass/unitree_g1_29dof.tar.gz -C data/retarget/amass/npz/
# Download all amass data
huggingface-cli download TonyZhang1999/xwbc-retarget-data --include "amass/*" --repo-type dataset --local-dir ./data
# Download all lafan data
huggingface-cli download TonyZhang1999/xwbc-retarget-data --include "lafan/*" --repo-type dataset --local-dir ./data
File Format
Each .tar.gz contains a directory of NPZ files named {robot_name}/. Each NPZ stores retargeted joint positions/velocities for one motion clip.
To extract and use:
import numpy as np
data = np.load("path/to/clip.npz")
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