G1 Retargeted Motions: 174 Humanoid Robot Sequences for Unitree G1

A set of 174 motion sequences of human movements retargeted for the Unitree G1 humanoid robot, released by openhe in late 2024. The data spans diverse categories including locomotion, dance, and sports, derived from SMPL-format human motion capture sources.

Use Cases

• Training reinforcement learning policies for Unitree G1 locomotion
• Developing dance and expressive movement controllers for humanoid robots
• Evaluating motion retargeting algorithms from SMPL to robot-specific kinematic chains

Strengths

• 174 distinct motion sequences
• Retargeted specifically for Unitree G1 hardware
• Covers diverse categories including dance and sports

Limitations

• Small sample size of 174 sequences
• Hardware-specific to the Unitree G1 humanoid model
• Potential for retargeting artifacts from the original SMPL source data

Provenance

Source

openhe

Collection Method

Retargeted from human motion capture data (SMPL format)

Freshness

Last updated December 2025.