OmniRetarget_Dataset

OmniRetarget Dataset: Humanoid Loco-Manipulation & Scene Interaction Paper | Project Page This dataset contains motion trajectories of a G1 humanoid robot interacting with objects and complex terrains. It was generated by OMNIRETARGET, an interaction-preserving data generation engine that produces high-quality, kinematically feasible trajectories free of common artifacts like foot-skating and penetration. Dataset Structure Due to licensing restrictions, we cannot… See the full description on the dataset page: https://huggingface.co/datasets/omniretarget/OmniRetarget_Dataset.