--- 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/.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/.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