| --- |
| license: cc-by-nc-4.0 |
| task_categories: |
| - robotics |
| pretty_name: Lite LAFAN1 Dataset |
| size_categories: |
| - n<1K |
| tags: |
| - rerun |
| - rrd |
| - humanoid |
| - motion-retargeting |
| - berkeley-humanoids |
| - lite |
| - lafan1 |
| viewer: false |
| --- |
| |
| # Lite LAFAN1 Dataset |
|
|
| 40 [LAFAN1][lafan1] clips at 50 Hz, retargeted from the Unitree G1 to the Berkeley Lite |
| Pro humanoid by [Lite-Motion-Retargeting][retarget], with the 30 Hz source kept beside |
| them. One motion is one |
| [Rerun](https://rerun.io) recording. [Open one in your browser][viewer], with no |
| install. The [table below](#motions) links every motion. |
|
|
| ```bash |
| 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](https://rerun.io/blog/data-layer-for-robot-learning) and a file |
| is a motion, after [`rerun/arkitscenes-rrd`](https://huggingface.co/datasets/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][retarget] lists every entity path and property. |
|
|
| ## Motions |
|
|
| | Motion | View | |
| |---|---| |
| | `lafan1_dance1_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance1_subject1.rrd) | |
| | `lafan1_dance1_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance1_subject2.rrd) | |
| | `lafan1_dance1_subject3` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance1_subject3.rrd) | |
| | `lafan1_dance2_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance2_subject1.rrd) | |
| | `lafan1_dance2_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance2_subject2.rrd) | |
| | `lafan1_dance2_subject3` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance2_subject3.rrd) | |
| | `lafan1_dance2_subject4` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance2_subject4.rrd) | |
| | `lafan1_dance2_subject5` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance2_subject5.rrd) | |
| | `lafan1_fallAndGetUp1_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fallAndGetUp1_subject1.rrd) | |
| | `lafan1_fallAndGetUp1_subject4` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fallAndGetUp1_subject4.rrd) | |
| | `lafan1_fallAndGetUp1_subject5` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fallAndGetUp1_subject5.rrd) | |
| | `lafan1_fallAndGetUp2_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fallAndGetUp2_subject2.rrd) | |
| | `lafan1_fallAndGetUp2_subject3` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fallAndGetUp2_subject3.rrd) | |
| | `lafan1_fallAndGetUp3_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fallAndGetUp3_subject1.rrd) | |
| | `lafan1_fight1_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fight1_subject2.rrd) | |
| | `lafan1_fight1_subject3` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fight1_subject3.rrd) | |
| | `lafan1_fight1_subject5` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fight1_subject5.rrd) | |
| | `lafan1_fightAndSports1_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fightAndSports1_subject1.rrd) | |
| | `lafan1_fightAndSports1_subject4` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_fightAndSports1_subject4.rrd) | |
| | `lafan1_jumps1_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_jumps1_subject1.rrd) | |
| | `lafan1_jumps1_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_jumps1_subject2.rrd) | |
| | `lafan1_jumps1_subject5` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_jumps1_subject5.rrd) | |
| | `lafan1_run1_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_run1_subject2.rrd) | |
| | `lafan1_run1_subject5` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_run1_subject5.rrd) | |
| | `lafan1_run2_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_run2_subject1.rrd) | |
| | `lafan1_run2_subject4` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_run2_subject4.rrd) | |
| | `lafan1_sprint1_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_sprint1_subject2.rrd) | |
| | `lafan1_sprint1_subject4` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_sprint1_subject4.rrd) | |
| | `lafan1_walk1_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk1_subject1.rrd) | |
| | `lafan1_walk1_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk1_subject2.rrd) | |
| | `lafan1_walk1_subject5` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk1_subject5.rrd) | |
| | `lafan1_walk2_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk2_subject1.rrd) | |
| | `lafan1_walk2_subject3` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk2_subject3.rrd) | |
| | `lafan1_walk2_subject4` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk2_subject4.rrd) | |
| | `lafan1_walk3_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk3_subject1.rrd) | |
| | `lafan1_walk3_subject2` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk3_subject2.rrd) | |
| | `lafan1_walk3_subject3` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk3_subject3.rrd) | |
| | `lafan1_walk3_subject4` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk3_subject4.rrd) | |
| | `lafan1_walk3_subject5` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk3_subject5.rrd) | |
| | `lafan1_walk4_subject1` | [Open in Rerun](https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_walk4_subject1.rrd) | |
|
|
| ## Source |
|
|
| The G1 subset of [`lvhaidong/LAFAN1_Retargeting_Dataset`][lafan1] is LAFAN1 already |
| retargeted to a 29-DoF Unitree G1, at 30 Hz. [Lite-Motion-Retargeting][retarget] |
| 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](https://github.com/Berkeley-Humanoids/Lite-Description) gives new |
| motions. |
|
|
| CC BY-NC 4.0, inherited from LAFAN1. Non-commercial use only. |
|
|
| [lafan1]: https://huggingface.co/datasets/lvhaidong/LAFAN1_Retargeting_Dataset |
| [retarget]: https://github.com/Berkeley-Humanoids/Lite-Motion-Retargeting |
| [viewer]: https://rerun.io/viewer?url=https%3A%2F%2Fhuggingface.co%2Fdatasets%2FBerkeley-Humanoids%2FLite-LAFAN1-Dataset%2Fresolve%2Fmain%2Flite_pro%2Flafan1_dance1_subject1.rrd |
|
|
