Dataset · Hugging Face

leggedrobotics/hoi-retarget

Name: hoi-retarget
Creator: leggedrobotics
License: cc-by-nc-sa-4.0
Keywords: task_categories:robotics, license:cc-by-nc-sa-4.0, size_categories:10K<n<100K, format:parquet, modality:3d, modality:tabular, modality:text, modality:timeseries, library:datasets, library:dask, library:polars, library:mlcroissant, arxiv:2609.34674, region:us, robotics

HOI-Retarget — Humanoid Human–Object Interaction Motion Project page · Code · 3D viewer · Paper · arXiv Learning from demonstration (LfD) has enabled humanoid robots to acquire diverse whole-body skills, but extending this paradigm to human-object interaction (HOI) is limited by the availability of robot-compatible interaction references. We present HOI-Retarget, a contact-centric retargeting method that transfers HOI onto a humanoid robot for large-scale motion-data… See the full description on the dataset page: https://huggingface.co/datasets/leggedrobotics/hoi-retarget.

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Author / organization	leggedrobotics
License (as declared)	cc-by-nc-sa-4.0
Downloads	12.9K (as reported by Hugging Face)
Likes	14
Created	18 September 2026
Last updated at source	30 September 2026

roboticshumanoidunitree-g1unitree-h2motion-retargetinghuman-object-interactionmotion-capturecontact

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