1363 dance motions for the Unitree H2 humanoid: every usable AIST++ dance, retargeted with UMR. Here are 45 of them, five from each of nine styles.

Play all 1363 in 3D Random dance

1363dances

10styles

5.0hours

30dancers

60fps

Shown here: House, Break, Waack, Krump, Pop, Lock, LA-style hip-hop, Middle hip-hop and Street jazz. Ballet jazz is in the 3D viewer and the dataset.

Motions from the AIST Dance Video Database (AIST++), retargeted to the H2 with UMR. Kinematic references: no tracking controller was run. Same dances for the Unitree G1 and Booster K1: G1 Dances, K1 Dances.

Watch 25 dances at once →

Use it

Each dance is one NPZ file: a 60 fps reference trajectory for the 31-DoF H2, as a target for motion-imitation RL, for training a motion tracker, or for testing a whole-body controller.

These are motion references, not low-level robot commands. No tracking controller was run on them.

import numpy as np
from huggingface_hub import snapshot_download

path = snapshot_download("Kyry10/h2-dances", repo_type="dataset",
                         allow_patterns=["motions/*", "manifest.csv"])

with np.load(f"{path}/motions/gBR_sBM_cAll_d04_mBR0_ch01.npz") as m:
    qpos = m["qpos"]        # T x 38, 60 fps
root_xyz  = qpos[:, :3]     # metres, Z-up
root_wxyz = qpos[:, 3:7]    # unit quaternion
joints    = qpos[:, 7:]     # 31 joints, radians

Credits

Dance source: AIST Dance Video Database (Tsuchida et al., ISMIR 2019) and AIST++ (Li et al., ICCV 2021)
Retargeting: UMR (Cao et al., 2026)
Robot model: Unitree H2 MuJoCo model from unitreerobotics/unitree_mujoco (BSD-3-Clause)
Robot and format: Unitree H2, 31 DoF. 60 fps NPZ: qpos is T × 38 (root xyz, root quaternion wxyz, 31 joints)
Other robots: G1 Dances (Unitree G1) and K1 Dances (Booster K1), both checked with a SONIC tracker in simulation
Made by: Kyrylo Kolesnichenko (@kyry_D), ATR Lab, Kent State University

If you use these motions, you must cite Tsuchida et al., AIST Dance Video Database, ISMIR 2019 (). Commercial use is subject to the AIST Dance DB Terms of Use. No AIST video, music or SMPL data is included. These dances were not run on an H2, real or simulated, with a controller.

H2 Dances

Use it

Credits