| --- |
| pretty_name: CoDance |
| task_categories: |
| - robotics |
| --- |
| |
| # CoDance |
|
|
| Data and trained policies for *[CoDance: Learning Reactive and Compliant |
| Human-Humanoid Interaction from Video](https://arxiv.org/abs/2610.05324)* |
| ([code](https://github.com/generalroboticslab/codance), |
| [project page](https://generalroboticslab.com/CoDance)). The paths mirror the |
| code repository, so downloading into its root makes every tracked config |
| resolve: |
|
|
| ```sh |
| uvx --from huggingface_hub hf download GeneralRoboticsLab/CoDance \ |
| --repo-type dataset --local-dir . --include "data/*" |
| ``` |
|
|
| ## Clip pools |
|
|
| | Path | Clips | |
| |---|---| |
| | `data/compliant/rc/20260830_comz_small_002/` | 400 waltz clips: seeds 0 to 49 are the 200-clip training pool, 50 to 99 the unseen evaluation clips | |
| | `data/compliant/rc/20260830_stand_comz_small_002/` | 400 standing clips: seeds 0 to 99 are the training pool | |
|
|
| Each seed is one augmented clip (`*_multilink_contact_seed<k>.npz` plus |
| `*_multilink_forcefield_seed<k>.npz`) and one zero-wrench clip |
| (`*_zerowrench_contact_seed<k>.npz`). The `rc.yaml` in each directory records |
| the source clips, seeds and generator flags. |
|
|
| ## Evaluated policies |
|
|
| `data/checkpoints/<policy>.pt`, one per policy in the paper's tables and |
| figures. Each file holds the policy's actor, critic (and discriminator where |
| the policy uses the adversarial style term), the optimizer state, and the |
| frozen train and eval config trees the run was launched with. The training |
| config of the same name is a whole file in the repository under |
| `src/mjlab/tasks/codancing/config/g1/conf/<policy>.yaml`. |
|
|
| Next to each checkpoint, `data/checkpoints/<policy>.onnx` is its actor |
| exported for deployment, with the observation normalization baked in and the |
| observation layout and control constants in the ONNX metadata. The real-robot |
| runners in `src/mjlab/tasks/codancing/simple_deploy/` load these files. |
|
|
| | Checkpoint | Policy | |
| |---|---| |
| | `decoupled.pt` | the decoupled policy | |
| | `decoupled_wo_adversarial.pt` | decoupled, without the adversarial style term | |
| | `decoupled_wo_chaining.pt` | decoupled, trained without clip chaining | |
| | `wholebody.pt` | the whole-body compliant policy | |
| | `wholebody_wo_foot_constraint.pt` | whole-body, without the foot constraint | |
| | `stiff.pt` | the stiff tracker | |
| | `stand.pt` | the standing policy | |
