DAVIAN-Robotics/PHUMA

PHUMA是一个基于物理的人类机器人行走数据集。该数据集利用大规模人类运动数据，并通过仔细的数据筛选和物理约束的重定位，克服了物理伪影，创建了一个高质量的人类机器人行走数据集。数据集包含了两种不同配置的人类机器人的重定位数据，每个文件以.npy格式存储，包括根关节的平移和旋转、关节位置以及帧率等信息。

PHUMA is a physically-grounded humanoid locomotion dataset. The dataset leverages large-scale human motion data and overcomes physical artifacts through careful data curation and physics-constrained retargeting, creating a high-quality humanoid locomotion dataset. It contains retargeted data for two different humanoid configurations, with each file in the .npy format storing root joint translations and orientations, joint positions, and frame rate information.