Anonymized G1 Trajectories About BONES SEED This release derives from BONES SEED ( Skeletal Everyday Embodiment Dataset ) — a large multi actor motion capture corpus collected for studying humanoid robot teleoperation. Roughly 522 operators contribute ~142K motion clips sampled at 120 fps, covering locomotion, communication, dance, everyday actions, sport, gaming, and interactions. Each operator is annotated with biometric attributes (height, weight, age, gender) plus per segment bone lengths. In BONES SEED, every clip ships in three parallel formats so the same motion can be studied at different levels of body shape disclosure: SOMA Proportional BVH — original mocap on each operator's true bone lengths. SOMA Uniform BVH — the same motion retargeted onto a single shared skeleton (body shape stripped). G1 CSV — the same motion retargeted again to the Unitree G1 humanoid robot, as 29 DOF joint angles. The clip identifiers follow {motion name} A{actor uid}[ M].csv , where M denotes the mirrored variant. Clips are bucketed by capture date ( YYMMDD ). UNVEIL's central finding is that even after both retargeting steps strip away the operator's body shape , the G1 joint angle stream still…
Runs entirely in your browser via DuckDB-Wasm — this dataset's real data file is loaded once, then queried locally. Nothing is sent to a server.
We use cookies for essential functionality and analytics. You can accept or reject analytics cookies.Cookie policy