FDDC Stratified Single-Leg-Balance Motions (900)

FDDC公开的Unitree G1 29-DoF单腿平衡合成动作与统一MuJoCo sim2sim基准：固定Hugging Face revision含908个文件，其中900段249帧、50Hz动作按720/90/90划分，覆盖骨盆高度×摆动脚高度的9个分层姿态类和左右支撑。数据公开非gated并继承AMS的GPL-3.0；代码/策略为Apache-2.0，G1模型为BSD-3-Clause，不能混写为单一许可证。

开放状态: 项目制品开放·上游条款另适用
许可证: GPL-3.0 for derived motions; Apache-2.0 for benchmark code and policy; BSD-3-Clause for Unitree G1 model
商业使用: GPL-3.0 obligations apply to the derived motion dataset; code, policy and robot model retain their separate licenses
人工评审结论: verified_public_nongated_fixed_revision_stratified_synthetic_balance_motion_dataset
机器人: Unitree G1 29-DoF MuJoCo model
任务: single-leg stance tracking and method-agnostic sim2sim balance evaluation
模态: joint position、joint velocity、body pose、body quaternion、body linear velocity、support phase/state、body and joint names、frame rate、class/bin/support/split metadata
格式: NPZ clips plus manifest.csv and dataset_info.json
采集/生成方式: MuJoCo evaluation; motions derived from AMS synthetic trajectory-optimization output and retargeted to G1
已知问题: Narrow single-capability corpus, synthetic AMS derivative, no scenes or objects, no paired real trajectories, no quantified physical results and no independent community reproduction. The Hugging Face card currently links an outdated repository path, so the canonical code source is the verified zhouyikaiii/DDC repository.

论文原文 · 官方代码与基准 · 固定revision数据 · 上游AMS数据