Teleopit Humanoid Motion Reference and Teleoperation Benchmark Bundle
Teleopit公开的人形动作参考与遥操作评测数据包，固定Hugging Face revision含28个HDF5分片、约3.45GB，覆盖LAFAN1、BONES-SEED、TWIST2、PICO录制和Teleopit mocap/PICO评测。它可直接接入Teleopit数据构建与预计算流程，但不是论文中用于ACT/GR00T的96条真实任务示范；数据卡声明MIT也不能覆盖各上游动作源的独立条款。
- 开放状态
- 已核验开放
- 许可证
- MIT declared by the hosted dataset card; upstream LAFAN1, BONES-SEED and TWIST2 terms remain separately applicable
- 商业使用
- requires source-by-source upstream license review; dataset-card MIT alone is insufficient
- 人工评审结论
- verified_public_humanoid_motion_reference_bundle_with_upstream_license_boundaries
- 机器人
- Unitree G1 29-DoF target model、human motion and PICO references retargeted for humanoid tracking
- 任务
- whole-body motion tracking, VR teleoperation reference tracking and tracker evaluation; not an object-manipulation task corpus
- 模态
- root pose、joint positions、joint velocities after precompute、body positions and orientations、body linear/angular velocities、clip FPS、PICO body references
- 格式
- minimal HDF5 motion shards; Teleopit precompute emits training HDF5 with FK and velocities
- 采集/生成方式
- mjlab GPU MuJoCo tracker training and Teleopit runtime
- 已知问题
- Full download/checksum audit not performed; upstream license boundaries; no consolidated clip/hour metadata; public files do not identify the 96 object-task demonstrations; no independent training report.