G1 MOVES

G1 Moves is a dataset of motion capture clips captured with the MOVIN TRACIN markerless capture system. Each clip is retargeted to the Unitree G1 humanoid robot (29 DOF) and used to train reinforcement learning policies via MuJoCo-Warp simulation.

The pipeline transforms raw human motion into deployable robot control policies through four stages: capture, IK retargeting, RL training, and policy deployment.