וְשָׁ֣ם רָאִ֗ינוּ אֶת־הַנְּפִילִ֛ים בְּנֵ֥י עֲנָ֖ק מִן־הַנְּפִלִ֑ים וַנְּהִ֤י בְעֵינֵ֙ינוּ֙ כַּֽחֲגָבִ֔ים וְכֵ֥ן הָיִ֖ינוּ בְּעֵינֵיהֶֽם׃
And there we saw the Nephilim, the sons of Anak, who come of the Nephilim; and we were in our own sight as grasshoppers, and so we were in their sight.’
Rashi on Numbers
הנפילים (lit., the fallen ones) — Anakim who were descendants of Shemchazai and Azael who fell from heaven in the generation of Enosh (cf. Targum Jonathan on Genesis 6:4 and Rashi on Niddah 61a s. v. בני אחיה).
Rashbam on Numbers
מן הנפילים, the original ones of which the Torah had written that they lived in antediluvian times (Genesis 6,4)