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Initial release

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  1. .gitattributes +60 -0
  2. README.md +50 -0
  3. data/checkpoints/decoupled.onnx +3 -0
  4. data/checkpoints/decoupled.pt +3 -0
  5. data/checkpoints/decoupled_wo_adversarial.onnx +3 -0
  6. data/checkpoints/decoupled_wo_adversarial.pt +3 -0
  7. data/checkpoints/decoupled_wo_chaining.onnx +3 -0
  8. data/checkpoints/decoupled_wo_chaining.pt +3 -0
  9. data/checkpoints/stand.onnx +3 -0
  10. data/checkpoints/stand.pt +3 -0
  11. data/checkpoints/stiff.onnx +3 -0
  12. data/checkpoints/stiff.pt +3 -0
  13. data/checkpoints/wholebody.onnx +3 -0
  14. data/checkpoints/wholebody.pt +3 -0
  15. data/checkpoints/wholebody_wo_foot_constraint.onnx +3 -0
  16. data/checkpoints/wholebody_wo_foot_constraint.pt +3 -0
  17. data/compliant/rc/20260830_comz_small_002/rc.yaml +23 -0
  18. data/compliant/rc/20260830_comz_small_002/waltz_20260224_001_multilink_contact_seed0.npz +3 -0
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+ *.7z filter=lfs diff=lfs merge=lfs -text
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+ *.arrow filter=lfs diff=lfs merge=lfs -text
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+ *.avro filter=lfs diff=lfs merge=lfs -text
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+ *.bin filter=lfs diff=lfs merge=lfs -text
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+ *.bz2 filter=lfs diff=lfs merge=lfs -text
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+ *.ckpt filter=lfs diff=lfs merge=lfs -text
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+ *.ftz filter=lfs diff=lfs merge=lfs -text
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+ *.gz filter=lfs diff=lfs merge=lfs -text
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+ *.h5 filter=lfs diff=lfs merge=lfs -text
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+ *.joblib filter=lfs diff=lfs merge=lfs -text
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+ *.lfs.* filter=lfs diff=lfs merge=lfs -text
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+ *.lz4 filter=lfs diff=lfs merge=lfs -text
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+ *.mds filter=lfs diff=lfs merge=lfs -text
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+ *.mlmodel filter=lfs diff=lfs merge=lfs -text
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+ *.model filter=lfs diff=lfs merge=lfs -text
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+ *.msgpack filter=lfs diff=lfs merge=lfs -text
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+ *.npy filter=lfs diff=lfs merge=lfs -text
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+ *.npz filter=lfs diff=lfs merge=lfs -text
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+ *.onnx filter=lfs diff=lfs merge=lfs -text
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+ *.ot filter=lfs diff=lfs merge=lfs -text
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+ *.parquet filter=lfs diff=lfs merge=lfs -text
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+ *.pb filter=lfs diff=lfs merge=lfs -text
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+ *.pickle filter=lfs diff=lfs merge=lfs -text
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+ *.pkl filter=lfs diff=lfs merge=lfs -text
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+ *.pt filter=lfs diff=lfs merge=lfs -text
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+ *.pth filter=lfs diff=lfs merge=lfs -text
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+ *.rar filter=lfs diff=lfs merge=lfs -text
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+ *.safetensors filter=lfs diff=lfs merge=lfs -text
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+ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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+ *.tar.* filter=lfs diff=lfs merge=lfs -text
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+ *.tar filter=lfs diff=lfs merge=lfs -text
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+ *.tflite filter=lfs diff=lfs merge=lfs -text
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+ *.tgz filter=lfs diff=lfs merge=lfs -text
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+ *.wasm filter=lfs diff=lfs merge=lfs -text
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+ *.xz filter=lfs diff=lfs merge=lfs -text
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+ *.zip filter=lfs diff=lfs merge=lfs -text
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+ *.zst filter=lfs diff=lfs merge=lfs -text
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+ *tfevents* filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - uncompressed
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+ *.pcm filter=lfs diff=lfs merge=lfs -text
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+ *.sam filter=lfs diff=lfs merge=lfs -text
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+ *.raw filter=lfs diff=lfs merge=lfs -text
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+ # Audio files - compressed
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+ *.aac filter=lfs diff=lfs merge=lfs -text
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+ *.flac filter=lfs diff=lfs merge=lfs -text
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+ *.mp3 filter=lfs diff=lfs merge=lfs -text
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+ *.ogg filter=lfs diff=lfs merge=lfs -text
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+ *.wav filter=lfs diff=lfs merge=lfs -text
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+ # Image files - uncompressed
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+ *.bmp filter=lfs diff=lfs merge=lfs -text
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+ *.gif filter=lfs diff=lfs merge=lfs -text
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+ *.png filter=lfs diff=lfs merge=lfs -text
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+ *.tiff filter=lfs diff=lfs merge=lfs -text
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+ # Image files - compressed
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+ *.jpg filter=lfs diff=lfs merge=lfs -text
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+ *.jpeg filter=lfs diff=lfs merge=lfs -text
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+ *.webp filter=lfs diff=lfs merge=lfs -text
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+ # Video files - compressed
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+ *.mp4 filter=lfs diff=lfs merge=lfs -text
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+ *.webm filter=lfs diff=lfs merge=lfs -text
README.md ADDED
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+ ---
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+ pretty_name: CoDance
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+ ---
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+
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+ # CoDance
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+
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+ Data and trained policies for *CoDance: Learning Reactive and Compliant
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+ Human-Humanoid Interaction from Video*. The paths mirror the code repository,
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+ so downloading into its root makes every tracked config resolve:
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+
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+ ```sh
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+ uvx --from huggingface_hub hf download GeneralRoboticsLab/CoDance \
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+ --repo-type dataset --local-dir . --include "data/*"
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+ ```
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+
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+ ## Clip pools
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+
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+ | Path | Clips |
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+ |---|---|
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+ | `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 |
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+ | `data/compliant/rc/20260830_stand_comz_small_002/` | 400 standing clips: seeds 0 to 99 are the training pool |
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+
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+ Each seed is one augmented clip (`*_multilink_contact_seed<k>.npz` plus
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+ `*_multilink_forcefield_seed<k>.npz`) and one zero-wrench clip
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+ (`*_zerowrench_contact_seed<k>.npz`). The `rc.yaml` in each directory records
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+ the source clips, seeds and generator flags.
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+
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+ ## Evaluated policies
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+
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+ `data/checkpoints/<policy>.pt`, one per policy in the paper's tables and
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+ figures. Each file holds the policy's actor, critic (and discriminator where
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+ the policy uses the adversarial style term), the optimizer state, and the
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+ frozen train and eval config trees the run was launched with. The training
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+ config of the same name is a whole file in the repository under
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+ `src/mjlab/tasks/codancing/config/g1/conf/<policy>.yaml`.
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+
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+ Next to each checkpoint, `data/checkpoints/<policy>.onnx` is its actor
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+ exported for deployment, with the observation normalization baked in and the
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+ observation layout and control constants in the ONNX metadata. The real-robot
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+ runners in `src/mjlab/tasks/codancing/simple_deploy/` load these files.
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+
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+ | Checkpoint | Policy |
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+ |---|---|
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+ | `decoupled.pt` | the decoupled policy |
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+ | `decoupled_wo_adversarial.pt` | decoupled, without the adversarial style term |
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+ | `decoupled_wo_chaining.pt` | decoupled, trained without clip chaining |
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+ | `wholebody.pt` | the whole-body compliant policy |
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+ | `wholebody_wo_foot_constraint.pt` | whole-body, without the foot constraint |
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+ | `stiff.pt` | the stiff tracker |
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+ | `stand.pt` | the standing policy |
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+ # Distributed copy: the batch generated 200 seeds per source clip; this dataset
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+ # carries seeds 0 to 99 (the 400 clips the release manifests use: the 200-clip
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+ # training pool plus the 200 unseen evaluation clips). The command below is the
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+ # recipe call that produced the batch; `just multilink-rc-paper small`, the
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+ # README's command, reruns it into a folder named after today's date.
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+ stamp: '20260830_comz_small_002'
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+ created: '2026-08-30T12:29:51-04:00'
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+ family: waltz
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+ src_dir: data/reference_motion_edits_g1_g1_waltz
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+ tags: ['20260224_001', '20260408_001']
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+ clip_names: {'20260224_001': human_fwd, '20260408_001': human_rev}
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+ seeds: 100
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+ zw_seeds: 100
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+ with_torque: false
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+ partner_aware: true
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+ extra: '--single-prob 0.25 --oppose-prob 0.075 --vertical-scale 0.5 --max-load-vel 1.0 --com-cost 0.1 --com-cost-z-factor 0.00001'
17
+ valid_seeds:
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+ '20260224_001': [0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99]
19
+ '20260408_001': [0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99]
20
+ rejected_seeds:
21
+ '20260224_001': []
22
+ '20260408_001': []
23
+ command: just multilink-rc 200 20260830_comz_small_002 4 200 false false true waltz '20260224_001 20260408_001' data/reference_motion_edits_g1_g1_waltz '--single-prob 0.25 --oppose-prob 0.075 --vertical-scale 0.5 --max-load-vel 1.0 --com-cost 0.1 --com-cost-z-factor 0.00001' # deterministic per seed: reproduces this rc from scratch
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