---
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 |