ALMI-X
Description
ALMI-X contains approximately 81,500 four-second, 200-step Unitree H1-2 trajectories generated by ALMI policies in MuJoCo. It combines AMASS-derived upper-body motions with omnidirectional lower-body velocity commands, including standing, turning, and different movement speeds, and assigns a templated language description to each combination. Files provide robot observations, actions, joint positions, global position, and global orientation for training language-conditioned humanoid locomotion and whole-body control models deployable on real robots.
License
Apache-2.0, subject to AMASS source licenses.*
* Double-check the publisher's current license and usage terms before using this dataset.