# HOI-Retarget

From the catalogue. Listed by one researcher from one source page.

- id: `hoi-retarget`
- kind: humanoid and human motion
- robot or device: Unitree G1 (29 DoF) and Unitree H2 (31 DoF) (class: humanoid)
- how collected: Human-object interaction mocap retargeted offline, not live teleop
- size as stated: 13,904 humanoid trajectories (6,952 per robot); 13.8 hours
- hours: 13.8 | hours only claimed: none | episodes: 13,904
- year: 2026
- organisation: leggedrobotics
- licence: cc-by-nc-sa-4.0 (class: non commercial)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/leggedrobotics/hoi-retarget
- Hugging Face repository: `leggedrobotics/hoi-retarget`, 11,648 downloads in 30 days, https://huggingface.co/datasets/leggedrobotics/hoi-retarget
- other names: HOI-Retarget and EgoHTR
- note: 13,018 rows pass quality control.

## Copies and ports on the Hugging Face Hub

Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.

| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| [shinben0327/hoi-retarget-sapiens-k1](https://datasets.gurasees.com/datasets/shinben0327/hoi-retarget-sapiens-k1.md) | not stated | other | other |  |  | non commercial | 107 |

Confirm the licence at the link before relying on it.