code_and_data · 已核验官方资源
审核码：verified_official; 官方关系：verified_apache_code_and_partial_huggingface_dataset_with_upstream_exclusions; 最近核验：2026-07-29代码：292 tracked files with curation, retargeting, preprocessing and robot adaptation
权重：no trained tracking-policy weights
数据：3.416 GB public Hugging Face package plus download scripts; explicitly incomplete relative to the 73-hour paper corpus
许可证：Apache-2.0_with_upstream_exclusions；PHUMA code and hosted package declare Apache-2.0; LAFAN1, LocoMuJoCo, source human poses and other upstream motions retain separate terms and are not redistributed.
依赖：Python 3.9、CUDA 12.4、PyTorch、Isaac Sim/Isaac Lab-compatible retargeting stack、upstream motion downloads
硬件/传感器：RTX 3090: one-to-two processes per GPU、A100: two-to-four processes per GPU、Unitree G1/H1-2 targets
实机证据：Author G1 evaluation uses 24 motions: four categories with six motions each.
独立复现：cross_framework_adoption_with_multiple_data_quality_failures
限制/反面证据：Public package is not the full 73-hour corpus；No policy weights；Upstream license exclusions；Root quaternion discontinuity reports；Foot sliding and velocity-spike reports；Current curation TypeError；No independent physical reproduction
当前建议：物理约束人形动作数据主流技术2.0·分层许可与质量门禁；Start with the fixed hosted subset, run quaternion/velocity/contact diagnostics, then add upstream motions only after preserving their separate licenses.
重点标签：humanoid-dataset、retargeting、code:verified、data:partial、community:mixed、adoption:protomotions
核验来源：来源 1 · 来源 2 · 来源 3 · 来源 4 · 来源 5 · 来源 6