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+*.bin filter=lfs diff=lfs merge=lfs -text
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+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
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+*.safetensors filter=lfs diff=lfs merge=lfs -text
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+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text
+
+# 3D point clouds
+*.ply filter=lfs diff=lfs merge=lfs -text

LICENSE

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+PhysCoRe dataset — licensing summary
+
+This repository contains material under two different licenses. Check which
+directory a file came from before reusing it.
+
+================================================================================
+1. data/phystwin/  —  MIT License, Copyright (c) 2025 Hanxiao Jiang
+================================================================================
+
+The 14 cases under `data/phystwin/` are redistributed from the PhysTwin dataset
+(https://huggingface.co/datasets/Jianghanxiao/PhysTwin) under the MIT License.
+The `mask/` and `sampled_tracks.pkl` files in those case directories are derived
+from those recordings and are covered by the same terms. The full notice is also
+kept at `data/phystwin/LICENSE`.
+
+MIT License
+
+Copyright (c) 2025 Hanxiao Jiang
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+================================================================================
+2. Everything else  —  CC-BY-4.0
+================================================================================
+
+`data/physcore/`, `gaussian_output/`, `checkpoints/` and `configs/` are
+Copyright (c) 2026 Haocheng Yin and Shuohan Tao, Lunar Lab @ Georgia Tech, and
+are released under the Creative Commons Attribution 4.0 International license.
+
+You are free to share and adapt this material for any purpose, including
+commercially, provided you give appropriate credit, link to the license, and
+indicate if changes were made.
+
+Full license text: https://creativecommons.org/licenses/by/4.0/legalcode
+Summary: https://creativecommons.org/licenses/by/4.0/
+
+Please cite the PhysCoRe paper; see the Citation section of README.md.

README.md

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+---
+license: other
+license_name: mixed-mit-and-cc-by-4.0
+license_link: LICENSE
+pretty_name: PhysCoRe
+size_categories:
+- 10K<n<100K
+task_categories:
+- robotics
+tags:
+- deformable-objects
+- robot-manipulation
+- material-estimation
+---
+
+# PhysCoRe
+
+Multi-view RGB-D recordings of deformable objects being manipulated by hand, plus the
+trained model weights, 3D Gaussian splats and configs needed to reproduce the results in
+**PhysCoRe: Physics-Corrected Residual World Models for Material-Aware Deformable
+Dynamics** (CoRL 2026).
+
+- Project page: https://lunarlab-gatech.github.io/PhysCoRe-website/
+- Paper: https://arxiv.org/abs/2607.20653
+- Code: https://github.com/lunarlab-gatech/PhysCoRe
+
+## Contents
+
+```
+data/
+├── phystwin/different_types/<case>/    14 cases, redistributed (see Licenses)
+└── physcore/different_types/<case>/    12 cases, recorded by us
+gaussian_output/physcore/<case>/        static 3DGS scenes for the 12 physcore cases
+checkpoints/                            MfM_checkpoint.pt, RfD_checkpoint.pt
+configs/                                one YAML per pipeline script
+```
+
+Each of the 26 cases is one recording from **3 calibrated RGB-D cameras**, time-aligned:
+
+| path | content |
+|---|---|
+| `calibrate.pkl` | pickled list of 3 camera-to-world 4x4 matrices |
+| `metadata.json` | per-camera intrinsics, image size `WH`, `frame_num`, serial numbers |
+| `color/{0,1,2}/<frame>.png` | RGB frames |
+| `color/{0,1,2}.mp4` | per-camera RGB video |
+| `depth/{0,1,2}/<frame>.npy` | depth frames, uint16 millimeters |
+| `mask/{0,1,2}/<mask_id>/<frame>.png` | object and controller segmentation |
+| `mask/mask_info_{0,1,2}.json` | mask id to label mapping |
+| `sampled_tracks.pkl` | sampled 3D tracks |
+
+## Where to start
+
+Copy the contents of this repository into the root of a PhysCoRe checkout, so that
+`data/`, `gaussian_output/`, `checkpoints/` and `configs/` sit beside the pipeline
+scripts. The code repository's README walks through the stages in order and names the
+config each one reads.
+
+Because `mask/` and `sampled_tracks.pkl` are included, you can skip the segmentation and
+tracking stage and go straight to building episodes with
+`datagen/convert3d/convert_to_episode.py`. Run that earlier stage only if you want to
+reproduce it; it additionally needs the SAM 2 and GroundingDINO weights, which are not
+redistributed here.
+
+The `configs/` here carry the values used for the released results, with run directories
+left as `YYYYMMDD_hhmm` placeholders to be stamped at launch. Per-case controller contact
+radii in `per_sample_rollout_config` are scene-dependent and will need retuning for your
+own objects.
+
+### Confidence overlay settings, per case
+
+`configs/render_MfM_confidence_3dgs.yaml` ships one example case, but the colormap ceiling
+has to be set per case. These are the values behind the released overlay videos, measured
+with `checkpoints/MfM_checkpoint.pt` on `data_episodes/physcore/<case>/episode_0000`:
+
+| case | `norm_hi` | `video_frames` | contact radius |
+|---|---|---|---|
+| `double_clift_cloth` | 2.0 | 120 | 0.06 (CLI override) |
+| `single_clift_cloth` | 1.75 | null | 0.044 (CLI override) |
+| `single_clift_rope` | 2.5 | null | 0.04 |
+| `double_squeeze_plastic` | 2.8 | null | 0.04 |
+| `double_stretch_bear_1` | 15.0 | null | 0.06 |
+| `single_push_rope` | 2.7 | 150 | 0.02 |
+
+The contact radius applies to the `validate_MfM.py` run that produces `render.traj_path`,
+not to the render itself. `configs/validate_MfM.yaml` already resolves to the value above
+for every case except the two marked *CLI override*, which need it passed on the command
+line:
+
+```bash
+python validate_MfM.py --config configs/validate_MfM.yaml \
+  --root data_episodes/physcore/double_clift_cloth/episode_0000 \
+  rollout.manipulation_controller_grid_contact_radius=0.06
+```
+
+## Licenses
+
+This repository is **mixed-license**. Check the directory before reusing anything.
+
+| path | license |
+|---|---|
+| `data/phystwin/` | **MIT**, Copyright (c) 2025 Hanxiao Jiang — see `data/phystwin/LICENSE` |
+| `data/physcore/`, `gaussian_output/`, `checkpoints/`, `configs/` | **CC-BY-4.0**, Lunar Lab @ Georgia Tech |
+
+The 14 cases under `data/phystwin/` are redistributed from the
+[PhysTwin dataset](https://huggingface.co/datasets/Jianghanxiao/PhysTwin) under its MIT
+license, which permits redistribution provided the copyright notice is retained. The
+`mask/` and `sampled_tracks.pkl` files in those case directories are derived from those
+recordings and carry the same terms. If you use them, please cite PhysTwin as well as
+this work.
+
+## Citation
+
+We hope this dataset is useful for your research. If it contributes to your work, please
+consider citing:
+
+```bibtex
+@inproceedings{yin2026physcore,
+  title     = {PhysCoRe: Physics-Corrected Residual World Models for Material-Aware Deformable Dynamics},
+  author    = {Yin, Haocheng and Tao, Shuohan and Chen, Yongsheng and Gan, Lu},
+  booktitle = {Conference on Robot Learning (CoRL)},
+  series    = {Proceedings of Machine Learning Research},
+  publisher = {PMLR},
+  year      = {2026}
+}
+```

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