PHUMA
Description
PHUMA is a 73-hour corpus of approximately 76,000 physically curated human-motion clips sourced from motion-capture datasets and internet video, then physics-constrained and retargeted for Unitree G1 and H1-2 humanoids. Motions span stationary, angular, vertical, and horizontal locomotion. The linked Hugging Face release is partial: LAFAN1- and LocoMuJoCo-derived motions are excluded and must be obtained and processed through the official repository instructions. Each released file records root translation, root orientation, joint positions, and frame rate, supporting humanoid motion-imitation training, tracking benchmarks, and sim-to-real locomotion policies.
License
Apache-2.0, subject to upstream source licenses.*
* Double-check the publisher's current license and usage terms before using this dataset.