ZEST: Unitree G1 Data (Zero-shot Embodied Skill Transfer for Athletic Robot Control)

This dataset supports the manuscript "ZEST: Zero-shot Embodied Skill Transfer for Athletic Robot Control" (Science Robotics). It contains the Unitree G1 humanoid data needed to reproduce the G1 results in the paper.The dataset includes: - Data_S1_G1.xlsx — the tabulated data behind the G1 figures and tables, with one sheet per dataset. This covers the G1 tracking-accuracy metrics reported in Table 1, the box climb-up robustness trials shown in Figure S5, and the raw per-timestep tracking time series that the metrics are computed from.- reference_motions_g1/ — the retargeted G1 reference trajectories (HDF5) that the policies track, for the ballet, box climb up, box climb down, box jump, cartwheel, and table-tennis motions.- table1_g1_raw_tracking/ — the raw per-motion hardware tracking logs (CSV) and environment configurations (JSON) underlying the Table 1 metrics.Data for the Boston Dynamics Atlas platform is not included, as it is proprietary.See the included README for the file layout, metric definitions, and details on the HDF5 structure.