zhouyikai/

DDC-single-leg-balance

The motion set used by DDC (Deployable Dynamic-CoM), a unified policy + method-agnostic sim2sim benchmark for humanoid single-leg balance. Paper: "A Change of Frame Makes Balance Observable: Distillation-Free Humanoid Single-Leg Stance" (arXiv:2608.00500). Project page: https://estoil.github.io/DDC/ Code & benchmark: https://github.com/zhouyikaiii/DDC

sample___mj.npz — Unitree G1 29-DoF, 50 Hz… See the full description on the dataset page: https://huggingface.co/datasets/zhouyikai/DDC-single-leg-balance.