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| <title>G1 Moves — Motion Capture for Unitree G1</title>
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| <meta name="description" content="59 motion capture clips for the Unitree G1 humanoid robot. Dance, karate, and more — captured with MOVIN3D, trained with MuJoCo-Warp.">
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| <div class="hero-bg"></div>
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| <div class="hero-content">
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| <img src="logo.png" alt="Experiential Technologies" class="logo" width="260">
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| <h1 class="hero-title">G1 MOVES</h1>
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| <p class="hero-subtitle">59 motion capture clips for the Unitree G1 humanoid robot</p>
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| <div class="pipeline-strip">
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| <div class="pipeline-stage">
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| <div class="stage-dot">1</div>
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| <span class="pipeline-label">Capture</span>
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| </div>
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| <div class="pipeline-connector"><div class="pipeline-flow"></div></div>
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| <div class="pipeline-stage">
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| <div class="stage-dot">2</div>
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| <span class="pipeline-label">Retarget</span>
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| <span class="pipeline-label">Train</span>
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| <div class="pipeline-connector"><div class="pipeline-flow"></div></div>
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| <div class="stage-dot">4</div>
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| <span class="pipeline-label">Policy</span>
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| <section class="stats-bar">
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| <div class="stat">
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| <div class="stat-value" id="stat-total">--</div>
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| <div class="stat-label">Total Clips</div>
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| <div class="stat-value" id="stat-dance">--</div>
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| <div class="stat-label">Dance</div>
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| <div class="stat-value" id="stat-karate">--</div>
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| <div class="stat-label">Karate</div>
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| <div class="stat-label">Bonus</div>
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| <div class="stat-label">Trained Policies</div>
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| </section>
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| <div class="filter-group">
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| <button class="category-btn active" data-category="all">All</button>
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| <button class="category-btn" data-category="dance">Dance</button>
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| <button class="category-btn" data-category="karate">Karate</button>
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| <span class="filter-label">Stage</span>
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| <button class="global-stage-btn" data-stage="capture">Capture</button>
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| <button class="global-stage-btn active" data-stage="retarget">Retarget</button>
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| <button class="global-stage-btn" data-stage="training">Training</button>
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| <button class="global-stage-btn" data-stage="policy">Policy</button>
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| <section class="gallery">
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| <div class="grid" id="clip-grid"></div>
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| <div class="empty-state" id="empty-state">No clips available for this selection</div>
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| </section>
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| <section class="about reveal">
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| <h2>ABOUT</h2>
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| <div class="about-text">
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| <p>G1 Moves is a dataset of motion capture clips captured with the
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| <a href="https://movin3d.com/" target="_blank" rel="noopener">MOVIN TRACIN</a>
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| markerless capture system. Each clip is retargeted to the Unitree G1 humanoid robot
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| (29 DOF) and used to train reinforcement learning policies via
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| <a href="https://github.com/mujocolab/mjlab" target="_blank" rel="noopener">MuJoCo-Warp</a>
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| simulation.</p>
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| <p>The pipeline transforms raw human motion into deployable robot control policies
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| through four stages: capture, IK retargeting, RL training, and policy deployment.</p>
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| </div>
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| <div class="about-pipeline">
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| <div class="pipeline-detail">
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| <span class="pd-num">01</span>
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| <div>
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| <strong>Capture</strong>
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| <span>MOVIN TRACIN LiDAR + vision, 60 FPS</span>
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| </div>
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| </div>
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| <div class="pipeline-detail">
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| <span class="pd-num">02</span>
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| <strong>Retarget</strong>
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| <span>Inverse kinematics to 29-DOF G1 joints</span>
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| </div>
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| <div class="pipeline-detail">
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| <span class="pd-num">03</span>
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| <strong>Train</strong>
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| <span>PPO in MuJoCo-Warp, 8192 parallel envs</span>
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| </div>
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| <div class="pipeline-detail">
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| <span class="pd-num">04</span>
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| <strong>Policy</strong>
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| <span>Deployable PyTorch checkpoint + ONNX</span>
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| </div>
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| </div>
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| </div>
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| </section>
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| <h2>CREDITS</h2>
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| <div class="credit-role">Director</div>
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| <a class="credit-name" href="https://mitchchaiet.com/" target="_blank" rel="noopener">Mitch Chaiet</a>
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| </div>
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| <div class="credit-card">
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| <div class="credit-role">DIT</div>
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| <a class="credit-name" href="https://www.linkedin.com/in/mollymaguire001/" target="_blank" rel="noopener">Molly Maguire</a>
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| </div>
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| <div class="credit-card">
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| <div class="credit-role">Dance</div>
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| <a class="credit-name" href="https://jasminecoro.com/" target="_blank" rel="noopener">Jasmine Coro</a>
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| </div>
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| <div class="credit-card">
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| <div class="credit-role">Karate</div>
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| <a class="credit-name" href="https://www.backstage.com/u/mike-gassaway/" target="_blank" rel="noopener">Mike Gassaway</a>
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| </div>
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| </div>
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| </section>
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| <section class="equipment reveal">
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| <h2>EQUIPMENT</h2>
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| <div class="equipment-sections">
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| <div class="equip-block">
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| <h3>Motion Capture</h3>
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| <p>Captured with <a href="https://movin3d.com/" target="_blank" rel="noopener">MOVIN TRACIN</a>
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| markerless mocap (LiDAR + vision). Recorded in
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| <a href="https://www.movin3d.com/studio" target="_blank" rel="noopener">MOVIN Studio</a>.</p>
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| </div>
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| <div class="equip-block">
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| <h3>Workstation</h3>
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| <div class="equipment-grid">
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| <div class="equipment-item">
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| <span class="equipment-label">System</span>
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| <span class="equipment-value">Dell Pro Max Tower T2</span>
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| </div>
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| <div class="equipment-item">
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| <span class="equipment-label">GPU</span>
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| <span class="equipment-value">NVIDIA RTX PRO 6000 (96 GB)</span>
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| </div>
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| <div class="equipment-item">
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| <span class="equipment-label">CPU</span>
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| <span class="equipment-value">Intel Core Ultra 9 285K</span>
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| </div>
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| <div class="equipment-item">
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| <span class="equipment-label">RAM</span>
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| <span class="equipment-value">128 GB DDR5</span>
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| </div>
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| </div>
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| </div>
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| </div>
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| </section>
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| <a href="https://huggingface.co/datasets/exptech/g1-moves" target="_blank" rel="noopener">Dataset</a>
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| <a href="https://mitchchaiet.com/" target="_blank" rel="noopener">Author</a>
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| <div class="footer-copy">CC BY 4.0 — Experiential Technologies</div>
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