40 LAFAN1 clips at 50 Hz, retargeted from the Unitree G1 to the Berkeley Lite Pro humanoid by Lite-Motion-Retargeting, with the 30 Hz source kept beside them. One motion is one Rerun recording. Open one in your browser, with no install. The table below links every motion.

hf download Berkeley-Humanoids/Lite-LAFAN1-Dataset --repo-type dataset \
    --include "*/lafan1_dance1_subject1.rrd" "blueprints/*" --local-dir .

rerun */lafan1_dance1_subject1.rrd blueprints/lite_pro.rbl

Pass the blueprint last. Blueprints do not merge, and the last one loaded wins.

Layout

A directory is a layer and a file is a motion, after rerun/arkitscenes-rrd. All layers of one motion share an application_id and a recording_id, so the viewer opens any set of them as one recording.

Path	What it holds
`base/<motion>.rrd`	The source clip as published, at 30 Hz: the 29 G1 joints, and the world poses they put its bodies at. Provenance, so a motion can be derived again without the upstream dataset.
`lite_pro/<motion>.rrd`	Everything the robot needs, at 50 Hz: the retargeted joints, the goal its bodies track, and the URDF geometry that draws it.
`blueprints/lite_pro.rbl`	The viewer layout.

The robot layer is self-contained. Its joints reset the robot, and /lite_pro/goal/ holds what the robot tracks, in the frame convention of the Lite links, so a reward compares it against the robot directly. source_body_names records which G1 link each goal came from. The layer stores no reached pose, because that is the forward kinematics of the joints beside it, and the /lite_pro/tf chain already draws the robot there. The gap between the robot and its goal triads is the error of the retarget, frame by frame.

Both layers carry the pelvis, both feet, and both hands: /lite_pro/goal/ under the Lite link names, and /base/body/ under the G1 ones.

Every array is world frame, in metres and radians, and a rotation is xyzw. A velocity is the backward difference against the frame before it, so frame 0 holds zero. Every column carries a frame index and a time in seconds. The two layers run at different rates, so time is what lines them up. scripts/store.py of Lite-Motion-Retargeting lists every entity path and property.

Motions

Motion	View
`lafan1_dance1_subject1`	Open in Rerun
`lafan1_dance1_subject2`	Open in Rerun
`lafan1_dance1_subject3`	Open in Rerun
`lafan1_dance2_subject1`	Open in Rerun
`lafan1_dance2_subject2`	Open in Rerun
`lafan1_dance2_subject3`	Open in Rerun
`lafan1_dance2_subject4`	Open in Rerun
`lafan1_dance2_subject5`	Open in Rerun
`lafan1_fallAndGetUp1_subject1`	Open in Rerun
`lafan1_fallAndGetUp1_subject4`	Open in Rerun
`lafan1_fallAndGetUp1_subject5`	Open in Rerun
`lafan1_fallAndGetUp2_subject2`	Open in Rerun
`lafan1_fallAndGetUp2_subject3`	Open in Rerun
`lafan1_fallAndGetUp3_subject1`	Open in Rerun
`lafan1_fight1_subject2`	Open in Rerun
`lafan1_fight1_subject3`	Open in Rerun
`lafan1_fight1_subject5`	Open in Rerun
`lafan1_fightAndSports1_subject1`	Open in Rerun
`lafan1_fightAndSports1_subject4`	Open in Rerun
`lafan1_jumps1_subject1`	Open in Rerun
`lafan1_jumps1_subject2`	Open in Rerun
`lafan1_jumps1_subject5`	Open in Rerun
`lafan1_run1_subject2`	Open in Rerun
`lafan1_run1_subject5`	Open in Rerun
`lafan1_run2_subject1`	Open in Rerun
`lafan1_run2_subject4`	Open in Rerun
`lafan1_sprint1_subject2`	Open in Rerun
`lafan1_sprint1_subject4`	Open in Rerun
`lafan1_walk1_subject1`	Open in Rerun
`lafan1_walk1_subject2`	Open in Rerun
`lafan1_walk1_subject5`	Open in Rerun
`lafan1_walk2_subject1`	Open in Rerun
`lafan1_walk2_subject3`	Open in Rerun
`lafan1_walk2_subject4`	Open in Rerun
`lafan1_walk3_subject1`	Open in Rerun
`lafan1_walk3_subject2`	Open in Rerun
`lafan1_walk3_subject3`	Open in Rerun
`lafan1_walk3_subject4`	Open in Rerun
`lafan1_walk3_subject5`	Open in Rerun
`lafan1_walk4_subject1`	Open in Rerun

Source

The G1 subset of lvhaidong/LAFAN1_Retargeting_Dataset is LAFAN1 already retargeted to a 29-DoF Unitree G1, at 30 Hz. Lite-Motion-Retargeting resamples it to 50 Hz and takes it to Lite Pro with a per-joint remap and a per-frame IK, and documents both. The result depends on the Lite Pro asset, so a new version of Lite-Description gives new motions.

CC BY-NC 4.0, inherited from LAFAN1. Non-commercial use only.

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