Dataset Overview Tabletop Pickup Ground Pickup : : : : Tabletop Manipulation Ground Manipulation : : : : Sitting Curb : : : : Slope Stairs : : : : Description: This dataset contains physics validated 4D human object interaction (HOI) trajectories for the Unitree G1 humanoid robot. It is generated by GRAIL (Generating Humanoid Loco Manipulation from 3D Assets and Video Priors), an end to end pipeline that (1) acquires a 3D asset, (2) generates a synthetic character object interaction video in Blender + Kling AI, (3) reconstructs the 4D HOI (SMPL X human pose + object 6 DoF) from the video, (4) retargets the human motion to the G1 skeleton, and (5) drives a SONIC tracking policy in Isaac Lab — the released motion data is what the simulated G1 + object realize in simulation. The release is partitioned by HOI category. Each motion ships with: the source synthetic video, the 4D HOI reconstruction (SMPL X + object pose), the retargeted G1 robot trajectory, the post RL object trajectory, and the object's USD asset (textures preserved). The repo also ships the submodule checkpoints required to re run the full GRAIL pipeline end to end (GEM SMPL human pose estimation + FoundationPose object…
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