Lite Motion Retargeting retargets human and Unitree G1 motion datasets to the Berkeley Lite Pro humanoid, and writes each clip as a layered Rerun motion.
Browse the motions in the Lite Motions Space. The Kimodo motions are in Berkeley-Humanoids/Lite-Kimodo-Dataset, and the LAFAN1 motions in the private Berkeley-Humanoids/Lite-LAFAN1-Dataset. The LAFAN1 motions show in the Space after you sign in with a Hugging Face account that can read that repo.
uv sync
uv run download --source lafan1bvh
uv run retarget --source lafan1bvh --workers -1
uv run build-site
uv run serve # then open http://localhost:8000| Command | What it does |
|---|---|
uv run download |
Downloads a source into .cache/<source>/. |
uv run retarget |
Retargets the clips of a source by IK into the store, dataset/. |
uv run --extra reactor reactor train, export |
Retargets the motions of a store again in physics, with ReActor. |
uv run compare |
Measures the IK, UMR and ReActor on the same frames. |
uv run build-site, serve |
Builds and serves the motion browser, site/. |
uv run publish |
Uploads the Hub datasets and the Space. |
uv run <command> --help lists the options of a command. The package runs from its clone, and keeps .cache/, dataset/ and logs/ beside the code. The sources are lafan1bvh, seed, amassx, lafan1, amass, motiondecode, kimodo, kimodolh2 and kimodolh3.
Warning: Check the license of a source before you share its motions. Most sources do not allow you to share them. See Sources.
- Sources: the datasets, their licenses, and how to download them.
- Retargeting: the three methods, how the IK retargets a clip, the metrics, and the code layout.
- ReActor: retargeting in physics, and its runs and studies.
- UMR: how to run UMR on Lite Pro.
- Compare the methods: the IK, UMR and ReActor on the same frames, and why UMR slides.
- The file format: the layers of a motion.
- The motion browser and Publish to the Hub.