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CITATION.bib

@@ -0,0 +1,30 @@
+@inproceedings{tsuchida2019aist,
+  title={AIST Dance Video Database: Multi-genre, Multi-dancer, and Multi-camera Database for Dance Information Processing},
+  author={Tsuchida, Shuhei and Fukayama, Satoru and Hamasaki, Masahiro and Goto, Masataka},
+  booktitle={Proceedings of the 20th International Society for Music Information Retrieval Conference (ISMIR)},
+  year={2019}
+}
+
+@inproceedings{li2021aichoreographer,
+  title={AI Choreographer: Music Conditioned 3D Dance Generation with AIST++},
+  author={Li, Ruilong and Yang, Shan and Ross, David A. and Kanazawa, Angjoo},
+  booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
+  year={2021}
+}
+
+@misc{cao2026umr,
+  title={Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence},
+  author={Cao, Hanyang and Fang, Yuetong and Kwon, Taesoo and Yu, Runyi and Ma, Ji and Tan, Jing and Zhou, Yangchen and Du, Baoze and Gu, Yi and Gao, Yukang and Dai, Ruoli and Han, Lei and Xu, Renjing},
+  year={2026},
+  eprint={2609.02134},
+  archivePrefix={arXiv},
+  primaryClass={cs.RO}
+}
+
+
+@misc{kolesnichenko2026h2dances,
+  title={H2 Dances: AIST++ Dances Retargeted to the Unitree H2 Humanoid},
+  author={Kolesnichenko, Kyrylo},
+  year={2026},
+  howpublished={\url{https://huggingface.co/datasets/Kyry10/h2-dances}}
+}

LICENSE.md

@@ -0,0 +1,9 @@
+# AIST Dance DB derived-motion use conditions
+
+This dataset contains retargeted Unitree H2 robot trajectories derived from AIST++ / AIST Dance Video Database.
+
+1. All users and downstream redistributors are required to cite Tsuchida et al., AIST Dance Video Database, ISMIR 2019. Preserve this requirement with any redistribution.
+2. No original AIST video frames, music or AIST++ SMPL annotations are included. This release grants no rights to redistribute those source materials.
+3. Commercial use is subject to the AIST Dance DB Terms of Use: https://aistdancedb.ongaaccel.jp/terms_of_use/ . No unrestricted commercial permission is granted by this dataset.
+
+The source permission states academic research use is free. No CC or open-source license is invented for the underlying AIST content. Upstream software and robot assets retain their respective licenses.

README.md

@@ -0,0 +1,157 @@
+---
+pretty_name: H2 Dances
+license: other
+license_name: aist-dance-db-derived-motion
+license_link: LICENSE.md
+size_categories:
+- 1K<n<10K
+task_categories:
+- robotics
+tags:
+- robotics
+- humanoid
+- humanoid-robot
+- unitree
+- unitree-h2
+- h2
+- dance
+- dance-dataset
+- motion-dataset
+- motion-imitation
+- motion-tracking
+- whole-body-control
+- retargeting
+- reinforcement-learning
+- mujoco
+- isaac-lab
+- mjlab
+- aist
+- aist++
+configs:
+- config_name: default
+  data_files:
+  - split: dances
+    path: previews/*
+---
+
+# H2 Dances
+
+### Unitree H2 dance dataset: 1363 dances (5.0 hours) from the AIST Dance Video Database, retargeted to the 31-DoF H2.
+
+<video src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/h2_dances.mp4" poster="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/h2_dances.jpg" controls autoplay muted loop playsinline width="100%"></video>
+
+**[Website](https://kyry.me/h2-dances)** · **[3D viewer](https://kyry.me/h2-dances/viewer/)** · **[Required citation](#required-citation-and-use-conditions)** · **[AIST Dance Video Database](https://aistdancedb.ongaaccel.jp/)**
+
+> [!IMPORTANT]
+> **These dances belong to AIST.** Every motion here comes from the [AIST Dance Video Database](https://aistdancedb.ongaaccel.jp/),
+> created by AIST (National Institute of Advanced Industrial Science and Technology, Japan), through the AIST++ 3D annotations by Google.
+> We only retargeted the dancers' movements to a robot.
+> **If you use this data, you must cite Tsuchida et al., ISMIR 2019.** Commercial use is subject to the
+> [AIST Dance DB Terms of Use](https://aistdancedb.ongaaccel.jp/terms_of_use/).
+
+## At a glance
+
+| | |
+| --- | --- |
+| **Dances** | 1363 |
+| **Styles** | 10 |
+| **Total length** | 299.5 minutes at 60 fps |
+| **Robot** | Unitree H2, 31 DoF |
+| **Dance source** | [AIST Dance Video Database](https://aistdancedb.ongaaccel.jp/) / [AIST++](https://google.github.io/aistplusplus_dataset/) ([arXiv:2101.08779](https://arxiv.org/abs/2101.08779)) |
+| **Retargeting** | [UMR](https://github.com/hanyang9/UMR) ([arXiv:2609.02134](https://arxiv.org/abs/2609.02134)), H2 config |
+| **Tracking check** | none: no public whole-body tracking controller for the H2 was available, so these are kinematic references only |
+| **Coverage** | 1363 of the 1363 usable AIST++ clips |
+
+## Styles
+
+| | | |
+| :---: | :---: | :---: |
+| <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/house.webp" width="100%"><br>**House** · 140 | <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/break.webp" width="100%"><br>**Break** · 133 | <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/waack.webp" width="100%"><br>**Waack** · 125 |
+| <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/krump.webp" width="100%"><br>**Krump** · 139 | <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/pop.webp" width="100%"><br>**Pop** · 140 | <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/lock.webp" width="100%"><br>**Lock** · 141 |
+| <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/la_hiphop.webp" width="100%"><br>**LA-style Hip-hop** · 141 | <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/middle_hiphop.webp" width="100%"><br>**Middle Hip-hop** · 141 | <img src="https://huggingface.co/datasets/Kyry10/h2-dances/resolve/main/assets/styles/street_jazz.webp" width="100%"><br>**Street Jazz** · 136 |
+
+Plus **Ballet Jazz** · 127. Numbers are dances per style. More videos on the [website](https://kyry.me/h2-dances).
+
+## Use it for
+
+- **Motion-imitation RL on the Unitree H2:** whole-body tracking targets for BeyondMimic-style trackers, mjlab, Isaac Lab or MuJoCo (convert `qpos` to your trainer's motion format).
+- **Training a general motion tracker for the H2:** a large, varied set of fast, expressive reference motions.
+- **Robot dance and animation:** 10 styles from House and Break to Krump and Waack.
+- **Retargeting research:** every clip keeps its AIST ID, so you can compare against the original AIST++ motion, or against the same dance on the [Unitree G1](https://huggingface.co/datasets/Kyry10/g1-dances) and [Booster K1](https://huggingface.co/datasets/Kyry10/k1-dances).
+
+## Quick start
+
+```python
+import numpy as np
+with np.load("motions/gBR_sBM_cAll_d04_mBR0_ch01.npz", allow_pickle=False) as m:
+    qpos = m["qpos"]            # T x 38
+    fps = float(m["fps"])       # 60
+root_xyz  = qpos[:, :3]         # metres, world Z-up
+root_wxyz = qpos[:, 3:7]        # unit quaternion, WXYZ
+joints    = qpos[:, 7:]         # 31 joints, radians
+```
+
+Joint order is in `joint_names.json` and in each file's `joint_names` (Unitree H2 MuJoCo model from unitreerobotics/unitree_mujoco (BSD-3-Clause)). Quick check: `python load_motion.py motions/<id>.npz`.
+These are motion references (targets for a tracking controller), not low-level robot commands.
+
+## What's inside
+
+| File | Contents |
+| --- | --- |
+| `motions/<id>.npz` | Retargeted reference: `qpos` (T x 38, float32), `fps`, `joint_names`, `method`, `info` |
+| `previews/` | Animated 3 s preview of every dance + `metadata.csv`; this is the table in Data Studio |
+| `manifest.csv` | One row per dance: style, routine, dancer and music IDs, duration, quality metrics, SHA-256 |
+| `joint_names.json` | The 38 qpos columns and joint limits |
+| `summary.json` | Counts and durations |
+| `quality_criteria.json` | Definition of the stricter quality screen |
+| `CITATION.bib`, `LICENSE.md` | Required citation and use conditions |
+| `assets/` | Preview video and images for this page |
+| `SHA256SUMS` | Integrity check: `shasum -a 256 -c SHA256SUMS` |
+
+IDs keep the AIST naming, e.g. `gBR_sBM_cAll_d04_mBR0_ch01` = genre Break, basic routine, dancer 04, music mBR0, choreography 01.
+
+## How the dances were made
+
+1. All 1363 usable AIST++ clips (the official list minus the AIST++ ignore list) were converted from SMPL to SMPL-X and retargeted to the H2 with UMR, at the original timing.
+2. **Every retargeted clip is included** (1363). No tracking controller was run, so there is no guarantee that a given clip can be tracked by a physical or simulated H2.
+3. Each clip was checked kinematically in MuJoCo; the `ref_*` columns of `manifest.csv` report self-collision, floor penetration, foot sliding, the fastest joint and joint-limit excursions.
+   `strict_quality_screen = True` marks 397 clips that pass the same thresholds as G1 Dances and K1 Dances (`quality_criteria.json`).
+
+## Limitations
+
+- **Not checked with a controller.** Unlike G1 Dances and K1 Dances, no clip here was run through a tracking policy, in simulation or on a robot. Expect some clips to be hard or impossible to track, especially fast floor work.
+- Some clips contain self-collision, foot sliding or a fast joint flip (218 clips have a joint faster than 30 rad/s, see `ref_max_joint_speed_radps`). The checks are automated, not a frame-by-frame review.
+- The robot model is Unitree H2 MuJoCo model from unitreerobotics/unitree_mujoco (BSD-3-Clause). Check the joint order and limits against your own model before use.
+
+## Required citation and use conditions
+
+The dances are AIST's. This dataset is released under the conditions set by the AIST Dance DB team:
+
+1. **Everyone who uses or redistributes this data must cite** Tsuchida et al., *AIST Dance Video Database*, ISMIR 2019, and keep this requirement when redistributing.
+2. **Commercial use** is subject to the [AIST Dance DB Terms of Use](https://aistdancedb.ongaaccel.jp/terms_of_use/).
+3. **No original AIST content** (video, music, AIST++ SMPL annotations) is included or licensed here.
+
+```bibtex
+@inproceedings{tsuchida2019aist,
+  title={AIST Dance Video Database: Multi-genre, Multi-dancer, and Multi-camera Database for Dance Information Processing},
+  author={Tsuchida, Shuhei and Fukayama, Satoru and Hamasaki, Masahiro and Goto, Masataka},
+  booktitle={Proceedings of the 20th International Society for Music Information Retrieval Conference (ISMIR)},
+  year={2019}
+}
+```
+
+Please also cite AIST++ and UMR (both entries are in `CITATION.bib`), and this dataset:
+
+```bibtex
+@misc{kolesnichenko2026h2dances,
+  title={H2 Dances: AIST++ Dances Retargeted to the Unitree H2 Humanoid},
+  author={Kolesnichenko, Kyrylo},
+  year={2026},
+  howpublished={\url{https://huggingface.co/datasets/Kyry10/h2-dances}}
+}
+```
+
+## Credits
+
+Dances: AIST Dance Video Database (AIST) and AIST++ (Google). Retargeting: UMR. Robot model: Unitree H2 MuJoCo model from unitreerobotics/unitree_mujoco (BSD-3-Clause).
+Made by Kyrylo Kolesnichenko, ATR Lab, Kent State University. Same dances for other robots: [G1 Dances](https://huggingface.co/datasets/Kyry10/g1-dances) (Unitree G1), [K1 Dances](https://huggingface.co/datasets/Kyry10/k1-dances) (Booster K1).

joint_names.json

@@ -0,0 +1,204 @@
+{
+  "robot": "Unitree H2 31-DoF",
+  "model": "Unitree H2 MuJoCo model from unitreerobotics/unitree_mujoco (BSD-3-Clause)",
+  "fps": 60,
+  "qpos_layout": [
+    "root_x",
+    "root_y",
+    "root_z",
+    "root_qw",
+    "root_qx",
+    "root_qy",
+    "root_qz",
+    "left_hip_pitch_joint",
+    "left_hip_roll_joint",
+    "left_hip_yaw_joint",
+    "left_knee_joint",
+    "left_ankle_roll_joint",
+    "left_ankle_pitch_joint",
+    "right_hip_pitch_joint",
+    "right_hip_roll_joint",
+    "right_hip_yaw_joint",
+    "right_knee_joint",
+    "right_ankle_roll_joint",
+    "right_ankle_pitch_joint",
+    "waist_yaw_joint",
+    "waist_roll_joint",
+    "waist_pitch_joint",
+    "head_pitch_joint",
+    "head_yaw_joint",
+    "left_shoulder_pitch_joint",
+    "left_shoulder_roll_joint",
+    "left_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "left_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint",
+    "right_shoulder_roll_joint",
+    "right_shoulder_yaw_joint",
+    "right_elbow_joint",
+    "right_wrist_roll_joint",
+    "right_wrist_pitch_joint",
+    "right_wrist_yaw_joint"
+  ],
+  "joint_names": [
+    "left_hip_pitch_joint",
+    "left_hip_roll_joint",
+    "left_hip_yaw_joint",
+    "left_knee_joint",
+    "left_ankle_roll_joint",
+    "left_ankle_pitch_joint",
+    "right_hip_pitch_joint",
+    "right_hip_roll_joint",
+    "right_hip_yaw_joint",
+    "right_knee_joint",
+    "right_ankle_roll_joint",
+    "right_ankle_pitch_joint",
+    "waist_yaw_joint",
+    "waist_roll_joint",
+    "waist_pitch_joint",
+    "head_pitch_joint",
+    "head_yaw_joint",
+    "left_shoulder_pitch_joint",
+    "left_shoulder_roll_joint",
+    "left_shoulder_yaw_joint",
+    "left_elbow_joint",
+    "left_wrist_roll_joint",
+    "left_wrist_pitch_joint",
+    "left_wrist_yaw_joint",
+    "right_shoulder_pitch_joint",
+    "right_shoulder_roll_joint",
+    "right_shoulder_yaw_joint",
+    "right_elbow_joint",
+    "right_wrist_roll_joint",
+    "right_wrist_pitch_joint",
+    "right_wrist_yaw_joint"
+  ],
+  "joint_range_rad": [
+    [
+      -2.4526,
+      2.7754
+    ],
+    [
+      -0.4674,
+      2.1689
+    ],
+    [
+      -2.827,
+      2.827
+    ],
+    [
+      -0.0872,
+      2.5302
+    ],
+    [
+      -0.3491,
+      0.2967
+    ],
+    [
+      -1.1345,
+      0.6109
+    ],
+    [
+      -2.4526,
+      2.7754
+    ],
+    [
+      -2.1689,
+      0.4674
+    ],
+    [
+      -2.827,
+      2.827
+    ],
+    [
+      -0.0872,
+      2.5302
+    ],
+    [
+      -0.2967,
+      0.3491
+    ],
+    [
+      -1.1345,
+      0.6109
+    ],
+    [
+      -1.7453,
+      1.7453
+    ],
+    [
+      -0.5236,
+      0.5236
+    ],
+    [
+      -0.4363,
+      0.5236
+    ],
+    [
+      -0.5236,
+      0.8378
+    ],
+    [
+      -1.7453,
+      1.7453
+    ],
+    [
+      -2.618,
+      1.833
+    ],
+    [
+      -0.517,
+      2.494
+    ],
+    [
+      -2.618,
+      2.618
+    ],
+    [
+      -0.986,
+      3.071
+    ],
+    [
+      -2.618,
+      2.618
+    ],
+    [
+      -0.576,
+      0.576
+    ],
+    [
+      -1.22,
+      1.22
+    ],
+    [
+      -2.618,
+      1.833
+    ],
+    [
+      -2.494,
+      0.517
+    ],
+    [
+      -2.618,
+      2.618
+    ],
+    [
+      -0.986,
+      3.071
+    ],
+    [
+      -2.618,
+      2.618
+    ],
+    [
+      -0.576,
+      0.576
+    ],
+    [
+      -1.22,
+      1.22
+    ]
+  ]
+}

load_motion.py

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+"""Inspect a H2 reference motion: python load_motion.py motions/<clip>.npz"""
+import sys
+import numpy as np
+with np.load(sys.argv[1], allow_pickle=False) as clip:
+    qpos = clip['qpos']
+    fps = float(clip['fps'])
+    print(f'{len(qpos)} frames, {fps:g} fps, {len(qpos)/fps:.2f} seconds')
+    root_xyz, root_wxyz, joints = qpos[:, :3], qpos[:, 3:7], qpos[:, 7:]
+    print('root XYZ:', root_xyz.shape, 'root WXYZ:', root_wxyz.shape, 'joint radians:', joints.shape)
+    print('joints:', [str(n) for n in clip['joint_names']])

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quality_criteria.json

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+{
+  "version": "h2-dances-quality-v1",
+  "description": "Editorial quality screen, not a robotics certification or published benchmark standard. Same thresholds as G1 Dances and K1 Dances (self-collision, floor penetration, foot sliding, joint speed).",
+  "input": "every H2 clip in this dataset (UMR retargets of the usable AIST++ clips); no tracking controller was run",
+  "sampling_hz": 30,
+  "retain_if": {
+    "reference_self_collision_fraction_depth_gt_1cm_lte": 0.05,
+    "reference_floor_penetration_p95_m_lte": 0.03,
+    "reference_contact_slide_mean_mps_lte": 0.3,
+    "reference_max_joint_speed_radps_lte": 30.0
+  },
+  "self_collision": "MuJoCo convex hulls of the H2 meshes, body pairs at least 3 links apart, signed distance below -1 cm",
+  "contact_proxy": "lowest vertex of each foot mesh below 3 cm from the existing floor; no re-grounding, smoothing, or timing change",
+  "joint_speed": "largest per-frame joint change of the reference times fps (60 Hz, no smoothing); catches retargeting flips where a joint swings between its limits within a few frames",
+  "notes": "Skating is a proximity-based proxy, not force-based stance detection. All clips are released; this flag only marks the cleanest ones. ref_joint_limit_excess_rad reports any excursion past the model's joint ranges."
+}

summary.json

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+{
+  "name": "H2 Dances",
+  "version": "1.0.0",
+  "robot": "Unitree H2 31-DoF",
+  "clips": 1363,
+  "styles": 10,
+  "genres": {
+    "Ballet Jazz": 127,
+    "Break": 133,
+    "House": 140,
+    "Krump": 139,
+    "LA-style Hip-hop": 141,
+    "Lock": 141,
+    "Middle Hip-hop": 141,
+    "Pop": 140,
+    "Street Jazz": 136,
+    "Waack": 125
+  },
+  "duration_minutes": 299.5,
+  "source_usable_clips": 1363,
+  "selection": "every usable AIST++ clip (official list minus the AIST++ ignore list) that UMR retargeted to a finite trajectory",
+  "retargeter": "UMR (unitree_h2 config)",
+  "tracker": null,
+  "tracking_checked": false,
+  "strict_quality_screen_clips": 397,
+  "on_website": 45,
+  "videos_included": false,
+  "physical_robot_validated": false
+}