Training Data

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:

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