This dataset contains offline teleoperation trajectories for the Unitree G1 humanoid robot generated using the SEW-MIMIC controller [1] and LaFAN1 BVH motion capture data [2].
The dataset was generated by replaying BVH motion capture sequences through a MuJoCo simulation of the G1 robot and logging the resulting robot state trajectories in a format compatible with TWIST-style imitation learning pipelines [3].
Each trajectory is stored as a .pkl… See the full description on the dataset page:
https://huggingface.co/datasets/pshinde612/SEW-TWIST.
