Spaces:
Running
Running
| <html lang="en"> | |
| <head> | |
| <meta charset="UTF-8"> | |
| <meta name="viewport" content="width=device-width, initial-scale=1.0"> | |
| <title>G1 Moves — Motion Capture for Unitree G1</title> | |
| <meta name="description" content="60 motion capture clips for the Unitree G1 humanoid robot. Dance, karate, and more — captured with MOVIN3D, trained with MuJoCo-Warp."> | |
| <link rel="preconnect" href="https://fonts.googleapis.com"> | |
| <link rel="preconnect" href="https://fonts.gstatic.com" crossorigin> | |
| <link href="https://fonts.googleapis.com/css2?family=Bebas+Neue&family=Manrope:wght@300;400;500;600;700;800&family=IBM+Plex+Mono:wght@400;500;600&display=swap" rel="stylesheet"> | |
| <link rel="stylesheet" href="style.css"> | |
| </head> | |
| <body> | |
| <!-- Tropical cloud background --> | |
| <div class="tropical-clouds"> | |
| <div class="cloud-blob-1"></div> | |
| <div class="cloud-blob-2"></div> | |
| <div class="cloud-blob-3"></div> | |
| </div> | |
| <div class="tropical-clouds-fade"></div> | |
| <!-- Hero --> | |
| <header class="hero"> | |
| <div class="hero-bg"></div> | |
| <div class="hero-content"> | |
| <a href="https://www.experientialtechnologies.com" target="_blank" rel="noopener"><img src="logo.png" alt="Experiential Technologies" class="logo" width="260"></a> | |
| <h1 class="hero-title">G1 MOVES</h1> | |
| <p class="hero-subtitle">60 motion capture clips for the Unitree G1 humanoid robot</p> | |
| <div class="pipeline-strip"> | |
| <div class="pipeline-stage"> | |
| <div class="stage-dot">1</div> | |
| <span class="pipeline-label">Capture</span> | |
| </div> | |
| <div class="pipeline-connector"><div class="pipeline-flow"></div></div> | |
| <div class="pipeline-stage"> | |
| <div class="stage-dot">2</div> | |
| <span class="pipeline-label">Retarget</span> | |
| </div> | |
| <div class="pipeline-connector"><div class="pipeline-flow"></div></div> | |
| <div class="pipeline-stage"> | |
| <div class="stage-dot">3</div> | |
| <span class="pipeline-label">Train</span> | |
| </div> | |
| <div class="pipeline-connector"><div class="pipeline-flow"></div></div> | |
| <div class="pipeline-stage"> | |
| <div class="stage-dot">4</div> | |
| <span class="pipeline-label">Policy</span> | |
| </div> | |
| </div> | |
| <div class="hero-video-wrap"> | |
| <video autoplay muted loop playsinline preload="auto" poster="launch-poster.jpg"> | |
| <source src="launch.mp4" type="video/mp4"> | |
| </video> | |
| </div> | |
| <a class="download-btn" href="https://huggingface.co/datasets/exptech/g1-moves" target="_blank" rel="noopener"> | |
| <svg width="20" height="20" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"><path d="M21 15v4a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2v-4"/><polyline points="7 10 12 15 17 10"/><line x1="12" y1="15" x2="12" y2="3"/></svg> | |
| Download Dataset | |
| </a> | |
| </div> | |
| <div class="hero-scan"></div> | |
| </header> | |
| <!-- Controls --> | |
| <section class="controls"> | |
| <div class="filter-group"> | |
| <button class="category-btn active" data-category="all">All</button> | |
| <button class="category-btn" data-category="dance">Dance</button> | |
| <button class="category-btn" data-category="karate">Karate</button> | |
| <button class="category-btn" data-category="bonus">Bonus</button> | |
| </div> | |
| </section> | |
| <!-- Gallery --> | |
| <section class="gallery"> | |
| <div class="grid" id="clip-grid"></div> | |
| <div class="empty-state" id="empty-state">No clips available for this selection</div> | |
| </section> | |
| <!-- About --> | |
| <section class="about reveal"> | |
| <div class="about-inner"> | |
| <h2>ABOUT</h2> | |
| <p class="about-intro">G1 Moves is a dataset of 60 motion capture clips for the <a href="https://www.unitree.com/g1/" target="_blank" rel="noopener">Unitree G1</a> humanoid robot (29 DOF, edition EDU). Each clip flows through a four-stage pipeline — from human performance to autonomous robot motion.</p> | |
| <div class="about-process"> | |
| <div class="process-step"> | |
| <div class="process-num">01</div> | |
| <h3>Capture</h3> | |
| <p>Primarily captured with <a href="https://movin3d.com/" target="_blank" rel="noopener">MOVIN TRACIN</a> markerless mocap (LiDAR + vision, 60 FPS, BVH output). Alternatively, <a href="https://github.com/AIM-Intelligence/video2robot" target="_blank" rel="noopener">video2robot</a> extracts motion from any camera source — smartphone video, YouTube, or AI-generated footage.</p> | |
| </div> | |
| <div class="process-connector"><div class="process-arrow"></div></div> | |
| <div class="process-step"> | |
| <div class="process-num">02</div> | |
| <h3>Retarget</h3> | |
| <p>Per-frame IK via <a href="https://github.com/MOVIN3D/MOVIN-SDK-Python" target="_blank" rel="noopener">MOVIN-SDK-Python</a> maps human skeleton to G1 29-DOF joint limits. <a href="https://github.com/MOVIN3D/Motion-Player-ROS" target="_blank" rel="noopener">Motion-Player-ROS</a> provides real-time preview in RViz.</p> | |
| </div> | |
| <div class="process-connector"><div class="process-arrow"></div></div> | |
| <div class="process-step"> | |
| <div class="process-num">03</div> | |
| <h3>Train</h3> | |
| <p><a href="https://github.com/mujocolab/mjlab" target="_blank" rel="noopener">mjlab</a> PPO across 8,192 parallel <a href="https://github.com/google-deepmind/mujoco_warp" target="_blank" rel="noopener">MuJoCo-Warp</a> envs. 4-layer MLP actor (160→512→256→128→29). 14-body tracking with adaptive early stopping.</p> | |
| </div> | |
| <div class="process-connector"><div class="process-arrow"></div></div> | |
| <div class="process-step"> | |
| <div class="process-num">04</div> | |
| <h3>Deploy</h3> | |
| <p><a href="https://github.com/GDDG08/RoboJuDo" target="_blank" rel="noopener">RoboJuDo</a> sim2real framework. MuJoCo sim2sim validation, then deployment to physical G1 via Unitree SDK over Ethernet. Hardware E-stop required.</p> | |
| </div> | |
| </div> | |
| </div> | |
| </section> | |
| <!-- Pipeline Details --> | |
| <section class="deploy reveal"> | |
| <div class="about-inner"> | |
| <h2>PIPELINE</h2> | |
| <p class="deploy-intro">The complete motion-to-policy pipeline uses six tools. Every trained policy is available as an ONNX model (160-dim input, 29-dim output) with baked-in observation normalization.</p> | |
| <div class="deploy-options"> | |
| <a class="deploy-option" href="https://movin3d.com/" target="_blank" rel="noopener"> | |
| <div class="deploy-num">01</div> | |
| <h3>MOVIN Studio</h3> | |
| <p>Recording and processing software for MOVIN TRACIN markerless mocap. Captures full-body motion in real-time using LiDAR + vision at 60 FPS. Exports BVH with 51-joint humanoid skeleton, plus FBX for Blender, Maya, Unreal, and Unity.</p> | |
| </a> | |
| <a class="deploy-option" href="https://github.com/MOVIN3D/Motion-Player-ROS" target="_blank" rel="noopener"> | |
| <div class="deploy-num">02</div> | |
| <h3>Motion-Player-ROS</h3> | |
| <p>ROS 2 package for retargeting and previewing motion capture on the G1. Supports both playback of pre-recorded .pkl files and real-time retargeting from live MOVIN TRACIN data via OSC/UDP. Dual visualization shows the original human BVH skeleton alongside the retargeted robot motion in RViz.</p> | |
| </a> | |
| <a class="deploy-option" href="https://github.com/AIM-Intelligence/video2robot" target="_blank" rel="noopener"> | |
| <div class="deploy-num">03</div> | |
| <h3>video2robot</h3> | |
| <p>End-to-end pipeline converting any video to robot motion. Extracts 3D human pose via PromptHMR (SMPL-X), then retargets to the G1's 29-DOF joint space using GMR inverse kinematics. Works with YouTube, phone video, or AI-generated footage — no mocap hardware needed.</p> | |
| </a> | |
| <a class="deploy-option" href="https://github.com/mujocolab/mjlab" target="_blank" rel="noopener"> | |
| <div class="deploy-num">04</div> | |
| <h3>mjlab</h3> | |
| <p>GPU-accelerated RL training framework combining Isaac Lab's manager-based API with MuJoCo-Warp simulation. Trains PPO policies across 8,192 parallel environments on a single GPU. Motion imitation uses 14-body tracking with reward shaping for position, orientation, velocity, and collision avoidance.</p> | |
| </a> | |
| <a class="deploy-option" href="https://github.com/GDDG08/RoboJuDo" target="_blank" rel="noopener"> | |
| <div class="deploy-num">05</div> | |
| <h3>RoboJuDo</h3> | |
| <p>Plug-and-play sim2real deployment framework for humanoid robots. Modular architecture separates controller (joystick/keyboard/motion), environment (MuJoCo sim or real robot via Unitree SDK), and policy (ONNX/JIT). Supports seamless switching between sim2sim validation and real hardware with minimal code changes.</p> | |
| </a> | |
| <a class="deploy-option" href="https://github.com/zalo/mujoco_wasm" target="_blank" rel="noopener"> | |
| <div class="deploy-num">06</div> | |
| <h3>MuJoCo WASM</h3> | |
| <p>Browser-based 3D visualization of trained policies. Runs MuJoCo physics simulation via WebAssembly with ONNX Runtime Web for neural network inference — no install required. Each policy card in the gallery above is a live interactive viewer.</p> | |
| </a> | |
| </div> | |
| <p class="deploy-footer">Full observation vector spec and integration guide in the <a href="https://huggingface.co/datasets/exptech/g1-moves" target="_blank" rel="noopener">dataset README</a>.</p> | |
| </div> | |
| </section> | |
| <!-- Equipment --> | |
| <section class="equipment reveal"> | |
| <h2>EQUIPMENT</h2> | |
| <div class="equipment-sections"> | |
| <a class="equip-block" href="https://www.dell.com/en-us/shop/desktop-computers/dell-pro-max-tower-t2-desktop/spd/dell-pro-max-fct2250-desktop" target="_blank" rel="noopener"> | |
| <img class="equip-photo" src="dell_t2.png" alt="Dell Pro Max Tower T2"> | |
| <h3>Training</h3> | |
| <div class="equip-name">Dell Pro Max Tower T2</div> | |
| <div class="equipment-grid"> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">GPU</span> | |
| <span class="equipment-value">RTX PRO 6000 (96 GB)</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">CPU</span> | |
| <span class="equipment-value">Core Ultra 9 285K</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">RAM</span> | |
| <span class="equipment-value">128 GB DDR5</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Envs</span> | |
| <span class="equipment-value">8,192 parallel</span> | |
| </div> | |
| </div> | |
| </a> | |
| <a class="equip-block" href="https://www.dell.com/en-us/shop/desktop-computers/dell-pro-max-with-gb10/spd/dell-pro-max-fcm1253-micro" target="_blank" rel="noopener"> | |
| <img class="equip-photo" src="dell_gb10.png" alt="Dell Pro Max with GB10"> | |
| <h3>Training</h3> | |
| <div class="equip-name">Dell Pro Max with GB10</div> | |
| <div class="equipment-grid"> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">SoC</span> | |
| <span class="equipment-value">GB10 Grace Blackwell</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">GPU</span> | |
| <span class="equipment-value">Blackwell (1 PFLOP)</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">RAM</span> | |
| <span class="equipment-value">128 GB unified</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Envs</span> | |
| <span class="equipment-value">1,024 parallel</span> | |
| </div> | |
| </div> | |
| </a> | |
| <a class="equip-block" href="https://movin3d.com/" target="_blank" rel="noopener"> | |
| <img class="equip-photo" src="movin_tracin.webp" alt="MOVIN TRACIN"> | |
| <h3>Motion Capture</h3> | |
| <div class="equip-name">MOVIN TRACIN</div> | |
| <div class="equipment-grid"> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Capture</span> | |
| <span class="equipment-value">MOVIN Studio</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Sensing</span> | |
| <span class="equipment-value">LiDAR + Vision</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Retargeting</span> | |
| <span class="equipment-value">Motion-Player-ROS</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Output</span> | |
| <span class="equipment-value">BVH (51 joints)</span> | |
| </div> | |
| </div> | |
| </a> | |
| <a class="equip-block" href="https://www.unitree.com/g1/" target="_blank" rel="noopener"> | |
| <img class="equip-photo" src="unitree_g1.png" alt="Unitree G1"> | |
| <h3>Robot</h3> | |
| <div class="equip-name">Unitree G1</div> | |
| <div class="equipment-grid"> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Edition</span> | |
| <span class="equipment-value">EDU</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">DOF</span> | |
| <span class="equipment-value">29</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Deploy</span> | |
| <span class="equipment-value">RoboJuDo</span> | |
| </div> | |
| <div class="equipment-item"> | |
| <span class="equipment-label">Interface</span> | |
| <span class="equipment-value">Ethernet</span> | |
| </div> | |
| </div> | |
| </a> | |
| </div> | |
| <a class="explore-hardware-btn" href="https://creatorfolio.co/mitchbookpro" target="_blank" rel="noopener"> | |
| <svg width="16" height="16" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"><path d="M18 13v6a2 2 0 0 1-2 2H5a2 2 0 0 1-2-2V8a2 2 0 0 1 2-2h6"/><polyline points="15 3 21 3 21 9"/><line x1="10" y1="14" x2="21" y2="3"/></svg> | |
| Explore Hardware | |
| </a> | |
| </section> | |
| <!-- Credits --> | |
| <section class="credits reveal"> | |
| <h2>CREDITS</h2> | |
| <div class="credits-grid"> | |
| <a class="credit-card" href="https://mitchchaiet.com/" target="_blank" rel="noopener"> | |
| <img class="credit-photo" src="credits/mitch.png" alt="Mitch Chaiet"> | |
| <div class="credit-role">Director + Development</div> | |
| <div class="credit-name">Mitch Chaiet</div> | |
| </a> | |
| <a class="credit-card" href="https://www.linkedin.com/in/mollymaguire001/" target="_blank" rel="noopener"> | |
| <img class="credit-photo" src="credits/molly.jpg" alt="Molly Maguire"> | |
| <div class="credit-role">DIT</div> | |
| <div class="credit-name">Molly Maguire</div> | |
| </a> | |
| <a class="credit-card" href="https://jasminecoro.com/" target="_blank" rel="noopener"> | |
| <img class="credit-photo" src="credits/jasmine.jpg" alt="Jasmine Coro"> | |
| <div class="credit-role">Dance</div> | |
| <div class="credit-name">Jasmine Coro</div> | |
| </a> | |
| <a class="credit-card" href="https://www.backstage.com/u/mike-gassaway/" target="_blank" rel="noopener"> | |
| <img class="credit-photo" src="credits/mike.jpg" alt="Mike Gassaway"> | |
| <div class="credit-role">Karate</div> | |
| <div class="credit-name">Mike Gassaway</div> | |
| </a> | |
| <a class="credit-card" href="https://mayacoro.com/" target="_blank" rel="noopener"> | |
| <img class="credit-photo" src="credits/maya.jpg" alt="Maya Coro"> | |
| <div class="credit-role">Fencing</div> | |
| <div class="credit-name">Maya Coro</div> | |
| </a> | |
| <a class="credit-card" href="https://arcattack.com/about-us/crew/joe/" target="_blank" rel="noopener"> | |
| <img class="credit-photo" src="credits/joe.jpg" alt="Joe DiPrima"> | |
| <div class="credit-role">Deployment</div> | |
| <div class="credit-name">Joe DiPrima</div> | |
| </a> | |
| <a class="credit-card" href="https://arcattack.com/about-us/crew/john/" target="_blank" rel="noopener"> | |
| <img class="credit-photo" src="credits/john.png" alt="John DiPrima"> | |
| <div class="credit-role">Deployment</div> | |
| <div class="credit-name">John DiPrima</div> | |
| </a> | |
| </div> | |
| </section> | |
| <!-- Citation --> | |
| <section class="citation reveal"> | |
| <div class="citation-inner"> | |
| <h2>CITATION</h2> | |
| <p class="citation-intro">If you use G1 Moves in your research or project, please cite:</p> | |
| <a class="whitepaper-btn" href="G1_Moves_Whitepaper.pdf" target="_blank" rel="noopener"> | |
| <svg width="18" height="18" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"><path d="M14 2H6a2 2 0 0 0-2 2v16a2 2 0 0 0 2 2h12a2 2 0 0 0 2-2V8z"/><polyline points="14 2 14 8 20 8"/><line x1="16" y1="13" x2="8" y2="13"/><line x1="16" y1="17" x2="8" y2="17"/><polyline points="10 9 9 9 8 9"/></svg> | |
| Download Whitepaper (PDF) | |
| </a> | |
| <div class="citation-block"> | |
| <button class="citation-copy" aria-label="Copy citation" title="Copy to clipboard"> | |
| <svg width="16" height="16" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2" stroke-linecap="round" stroke-linejoin="round"><rect x="9" y="9" width="13" height="13" rx="2" ry="2"/><path d="M5 15H4a2 2 0 0 1-2-2V4a2 2 0 0 1 2-2h9a2 2 0 0 1 2 2v1"/></svg> | |
| </button> | |
| <pre><code>@misc{chaiet2026g1moves, | |
| title = {G1 Moves: A Motion Capture Dataset for Unitree G1 Humanoid Robot}, | |
| author = {Chaiet, Mitch}, | |
| year = {2026}, | |
| publisher = {Hugging Face}, | |
| url = {https://huggingface.co/datasets/exptech/g1-moves}, | |
| note = {60 motion capture clips with trained RL policies for sim-to-real transfer} | |
| }</code></pre> | |
| </div> | |
| </div> | |
| </section> | |
| <!-- Disclaimer --> | |
| <section class="disclaimer reveal"> | |
| <div class="disclaimer-inner"> | |
| <h3>Safety Disclaimer & Limitation of Liability</h3> | |
| <p><strong>WARNING: Deploying learned locomotion policies to physical robots is inherently dangerous and can cause serious injury, death, or property damage.</strong> The policies provided in this dataset are trained in simulation and have not been validated for safe real-world operation. Sim-to-real transfer involves unpredictable failure modes including but not limited to: sudden loss of balance, uncontrolled high-speed limb movements, unexpected falls, collisions with people or objects, and hardware damage.</p> | |
| <p><strong>Do not deploy these policies to a physical robot unless you have:</strong> (1) advanced expertise in sim-to-real transfer, robot safety systems, and real-time control; (2) appropriate physical safety infrastructure including overhead tethers, safety enclosures, and emergency stop mechanisms; (3) completed thorough sim-to-sim validation; (4) conducted a formal risk assessment for your specific deployment environment; and (5) ensured all personnel in the vicinity are trained on emergency procedures.</p> | |
| <p><strong>LIMITATION OF LIABILITY:</strong> THE POLICIES, MODELS, DATA, AND SOFTWARE IN THIS DATASET ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, SAFETY, OR NONINFRINGEMENT. IN NO EVENT SHALL EXPERIENTIAL TECHNOLOGIES, ITS AFFILIATES, CONTRIBUTORS, OR LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, CONSEQUENTIAL, OR PUNITIVE DAMAGES (INCLUDING BUT NOT LIMITED TO PERSONAL INJURY, DEATH, PROPERTY DAMAGE, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES, LOSS OF USE, DATA, OR PROFITS, OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS DATASET OR ITS DERIVATIVES, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.</p> | |
| <p>By downloading, using, or deploying any part of this dataset, you acknowledge that you assume all risk and full responsibility for any consequences arising from its use. You agree to indemnify and hold harmless Experiential Technologies, its officers, directors, employees, and agents from any claims, damages, or liabilities arising from your use of these materials.</p> | |
| </div> | |
| </section> | |
| <!-- Pipeline Modal --> | |
| <div class="modal" id="pipeline-modal"> | |
| <div class="modal-content"> | |
| <div class="modal-header"> | |
| <div> | |
| <h2 class="modal-title"></h2> | |
| <p class="modal-meta"></p> | |
| </div> | |
| <button class="modal-close" aria-label="Close">×</button> | |
| </div> | |
| <div class="modal-grid"></div> | |
| </div> | |
| </div> | |
| <!-- GTC Keynote Clip --> | |
| <section class="gtc-video-section"> | |
| <div class="hero-video-wrap"> | |
| <video controls playsinline preload="metadata"> | |
| <source src="nvidia_gtc_keynote_clip.mp4" type="video/mp4"> | |
| </video> | |
| </div> | |
| </section> | |
| <!-- QR Code --> | |
| <section class="qr-section"> | |
| <img src="qr.png" alt="QR code linking to G1 Moves" class="qr-code"> | |
| </section> | |
| <!-- Footer --> | |
| <footer class="site-footer"> | |
| <div class="footer-inner"> | |
| <a href="https://www.experientialtechnologies.com" target="_blank" rel="noopener"> | |
| <img src="logo.png" alt="Experiential Technologies" class="footer-logo" width="140"> | |
| </a> | |
| <div class="footer-links"> | |
| <a href="https://huggingface.co/datasets/exptech/g1-moves" target="_blank" rel="noopener">Dataset</a> | |
| <a href="https://mitchchaiet.com/" target="_blank" rel="noopener">Author</a> | |
| </div> | |
| <div class="footer-copy">CC BY 4.0 — Experiential Technologies</div> | |
| </div> | |
| </footer> | |
| <script src="app.js"></script> | |
| </body> | |
| </html> | |