Training Data
BONES-SEED
BONES-SEED (Skeletal Everyday Embodiment Dataset) is an open dataset of 142,220 annotated human motion animations for humanoid robotics, created by Bones Studio. It provides motion capture data in SOMA and Unitree G1 formats with natural language descriptions, temporal segmentation labels, and detailed skeletal metadata.
| Total motions | 142,220 (71,132 original + 71,088 mirrored) |
| Total duration | ~288 hours (@ 120 fps) |
| Performers | 522 actors (253 F / 269 M) |
| Age range | 17–71 years |
| Height range | 145–199 cm |
| Weight range | 38–145 kg |
| Output formats | SOMA Uniform · SOMA Proportional · Unitree G1 MuJoCo-compatible |
| Annotations | Up to 6 NL descriptions per motion + temporal segmentation + skeletal metadata |
Relevance to SONIC
BONES-SEED a large subset of SONIC training data:
- Unitree G1 joint trajectories — retargeted for MuJoCo, directly usable for motion tracking training
- Broad motion coverage — locomotion, manipulation, dance, sports, communication, and everyday activities across 8 categories and 20 sub-categories
- Rich language annotations — up to 6 natural language descriptions per motion, enabling language-conditioned policy learning
- Temporal segmentation — per-motion phase labels with timestamps for structured skill decomposition
- Performer diversity — 522 actors spanning a wide range of body types, ages, and movement styles
Motion Categories
| Package | Motions | Description |
|---|---|---|
| Locomotion | 74,488 | Walking, jogging, jumping, climbing, crawling, turning, and transitions |
| Communication | 21,493 | Gestures, pointing, looking, and communicative body language |
| Interactions | 14,643 | Object manipulation, pick-and-place, carrying, and tool use |
| Dances | 11,006 | Full-body dance performances across multiple styles |
| Gaming | 8,700 | Game-inspired actions and dynamic movements |
| Everyday | 5,816 | Household tasks, consuming, sitting, reading, and daily activities |
| Sport | 3,993 | Athletic movements and sports-specific actions |
| Other | 2,081 | Stunts, martial arts, and edge-case motions |
Data Formats
Every motion is available in three formats:
- SOMA Proportional (BVH) — per-actor skeleton preserving original body proportions
- SOMA Uniform (BVH) — standardized skeleton shared across all motions for batch processing
- Unitree G1 (CSV) — joint-angle trajectories retargeted to the Unitree G1 humanoid
Download
# Using the Hugging Face CLI
pip install huggingface_hub
huggingface-cli download bones-studio/seed --repo-type dataset --local-dir ./bones-seed
# Using Python
from huggingface_hub import snapshot_download
snapshot_download(
repo_id="bones-studio/seed",
repo_type="dataset",
local_dir="./bones-seed"
)
After downloading, extract the motion archives: