1046 dance motions for the Booster K1 humanoid. All 1046 are trackable zero-shot by SONIC-K1 in simulation. Here are 45 of them, five from each of nine styles.
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 K1 with UMR and tracked by SONIC-K1 in simulation. Same dances for the Unitree G1: G1 Dances.
Watch 25 dance at once →See all 1046 dances on Hugging Face →
Each dance is one NPZ file: a 60 fps reference trajectory for the 22-DoF K1, ready to play with SONIC-K1, as a target for motion-imitation RL, or for testing a whole-body controller.
These are motion references, not low-level robot commands. Simulation only.
import numpy as np
from huggingface_hub import snapshot_download
path = snapshot_download("Kyry10/k1-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 29, 60 fps
root_xyz = qpos[:, :3] # metres, Z-up
root_wxyz = qpos[:, 3:7] # unit quaternion
joints = qpos[:, 7:] # 22 joints, radiansIf 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. Simulation only: these dances were not run on a real K1.