Release AdaDexTrack replay and BC tracker resources

README.md

@@ -1,3 +1,107 @@
 ---
-license: cc-by-nc-4.0
+pretty_name: AdaDexTrack
+license: other
+license_name: component-specific-terms
+license_link: https://huggingface.co/datasets/Janebek/AdaDexTrack/blob/main/RESOURCE_LICENSES.md
+tags:
+- robotics
+- dexterous-manipulation
+- motion-tracking
+- 3d
+language:
+- en
+size_categories:
+- 1K<n<10K
 ---
+
+# AdaDexTrack resources
+
+Resources for **AdaDexTrack: Dynamic Modulation for Adaptive and Generalizable
+Dexterous Manipulation Tracking**, CVPR 2026.
+
+[Code and instructions](https://github.com/Janebek/AdaDexTrack) ·
+[Project website](https://janebek.github.io/AdaDexTrack/) ·
+[Paper](https://openaccess.thecvf.com/content/CVPR2026/papers/Adalibieke_AdaDexTrack_Dynamic_Modulation_for_Adaptive_and_Generalizable_Dexterous_Manipulation_Tracking_CVPR_2026_paper.pdf)
+
+## Files
+
+| File | Restored paths | Contents |
+|---|---|---|
+| `assets.tar.gz` | `assets/` | Object meshes and URDFs, xArm/LEAP robot model, floor texture, object latents |
+| `references.tar.gz` | `data/adadextrack_full/` | All 2,765 reference motions, manifests, semantic groups, split lists and provenance |
+| `bc_tracker.pth` | `checkpoints/bc_tracker.pth` | Pretrained unseen-trajectory BC tracker, 273 observations and 22 actions |
+| `release.json` | Download metadata | Archive and per-file SHA256 checksums, sizes and coverage |
+
+The corpus contains **2,765 motions, 50 objects, 444 semantic groups**, with 300
+frames per motion. Reference IDs are `0–2764`; group IDs are `0–443`.
+Each motion is stored once and shared by both experimental partitions.
+
+| Partition | Train | Test |
+|---|---:|---:|
+| Unseen trajectory | 2,212 | 553 |
+| Unseen object | 2,520 | 245 |
+
+This package contains the full corpus, without height, checkpoint-success or
+accuracy filtering. References were generated with DiffH2O and retargeted to the
+robot. Their dictionaries contain object poses, robot joint states and link
+transforms. Position units are meters, angles are radians and quaternions are xyzw.
+The original NumPy dictionaries use pickle serialization; the project loader
+reads these project resource files with `allow_pickle=True`.
+
+The released BC tracker corresponds to the unseen-trajectory training split.
+It is also intended as the frozen tracker for future modulator training.
+Unseen-object tracker, semantic specialist and modulator checkpoints are not
+included in this resource release.
+
+## Download
+
+From the code repository root, in the configured Python environment:
+
+```bash
+pip install 'huggingface_hub>=0.13.4'
+python scripts/download_resources.py
+```
+
+The downloader resolves one Hub commit, verifies the archive and individual-file
+checksums, and restores the paths above. It preserves identical installed files
+and fails on conflicting local files. For a reproducible version, pass
+`--revision <full Hub commit hash>`.
+
+To download only the meshes, robot models, textures and object latents:
+
+```bash
+python scripts/download_resources.py --components assets
+```
+
+For manual installation, extract both `.tar.gz` archives into the **code
+repository root** and put `bc_tracker.pth` in `checkpoints/`. Archives already
+include their top-level `assets/` and `data/adadextrack_full/` paths.
+Isaac Gym Preview 4 must be obtained and installed separately.
+
+## Resource terms
+
+There is **no single blanket license over this mixed resource bundle**.
+The code repository's BSD license does not replace third-party asset terms.
+See [RESOURCE_LICENSES.md](RESOURCE_LICENSES.md) for source information and
+restrictions, and `notices/` for the retained available license files.
+
+In particular, GRAB's published terms include noncommercial-use and
+redistribution restrictions. Including files here does not grant additional
+rights or establish permission from the original rightsholders. Generated
+references and trained weights are distinct resources; no blanket relicensing
+of third-party material is asserted.
+
+## Evaluation
+
+The code uses L2 position errors, quaternion angular errors and 16-finger-joint
+MAE over all 300 frames. Initial object XY/yaw perturbations are disabled.
+See the code repository for the exact Mean-error and Completion definitions.
+
+```bibtex
+@InProceedings{Adalibieke_2026_CVPR,
+  author = {Adalibieke, Jianibieke and Han, Qianwei and Liu, Xueyi and Qin, Yuzhe and Yi, Li},
+  title = {AdaDexTrack: Dynamic Modulation for Adaptive and Generalizable Dexterous Manipulation Tracking},
+  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
+  year = {2026}
+}
+```

RESOURCE_LICENSES.md

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+# Resource sources and terms
+
+This file records sources and retained terms. It does not supply missing
+redistribution permission or grant a new license over third-party resources.
+The Hugging Face `license: other` metadata describes this component-specific
+arrangement; it is not an alternative to the original licenses.
+
+| Component | Source | Terms and attribution |
+|---|---|---|
+| GRAB object meshes and their converted visual/collision files | https://grab.is.tue.mpg.de/ | Original terms apply: https://grab.is.tue.mpg.de/license.html |
+| xArm model and combined xArm/LEAP description | https://github.com/xArm-Developer/xarm_ros | Retain source notices; no new license over upstream material is granted here |
+| LEAP hand model | https://leaphand.com/ | Available source notice copied to `notices/LEAP_HAND_LICENSE.txt` |
+| IsaacGymEnvs-derived assets/utilities | https://github.com/isaac-sim/IsaacGymEnvs | Retained NVIDIA BSD notice in `notices/ISAACGYMENVS_LICENSE.txt`; the SDK itself is not included |
+| Object latents | Mesh-conditioned representations used by AdaDexTrack | Mesh and encoder provenance remain relevant; no blanket third-party relicensing is asserted |
+| Generated robot references | DiffH2O generation followed by robot retargeting | Generator source: https://github.com/facebookresearch/diffh2o; its code and dependent datasets retain their respective terms |
+| BC tracker checkpoint | AdaDexTrack training | Trained weights are provided as a separate artifact; the code license does not itself determine the terms of all training resources |
+
+GRAB's published terms explicitly include 3D meshes and prohibit making its
+Data & Software available to third parties without prior written permission;
+they also contain a No Distribution provision. These restrictions remain
+applicable. Public availability of an archive does not replace that permission.
+
+GRAB cites ContactDB for object resources. ContactDB's original-model provenance
+sheet lists different terms for individual original models:
+https://docs.google.com/spreadsheets/d/1v1BqZJOKQ0chPYkBFVJvfToLU7KWs-2RRb2tsJ5IDP8/edit.
+An original-model license must not be assumed to cover a processed model from a
+different distribution without verifying its provenance and terms.
+
+References in this package are identified by the authors as generated motions,
+not a direct release of the original GRAB human-motion dataset. The dictionaries
+contain robot/object transforms rather than mesh vertices. This distinction
+alone does not establish a particular license for generated outputs. Sampling
+conditions and dependent model/data terms have not been audited per generation
+run in this release-preparation process.
+
+The source and rights review is not a statement that every file has received
+separate redistribution permission. No blanket CC BY-NC or BSD license is
+assigned to the entire bundle. Questions about additional permissions should be
+resolved with the relevant rightsholders.

assets.tar.gz

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+oid sha256:36b3579fe315f9b4216927a3ab8321bba0bd01dd4ba9edee47e4cf3ddda63add
+size 60751573

bc_tracker.pth

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e918e91c1c974b945725b469354662b25924abf4d744e3805299864a980c33
+size 196865446

notices/ISAACGYMENVS_LICENSE.txt

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+BSD 3-Clause License
+
+Copyright (c) 2018-2023, NVIDIA Corporation
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+See assets/licenses for license information for assets included in this repository

notices/LEAP_HAND_LICENSE.txt

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+Copyright 2023 Ananye Agarwal
+
+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.
+
+The model files we obtained from the previously mentioned source underwent
+significant modifications before we could use them. These modifications
+included changes to the meshes and the URDF file itself.
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.

notices/RL_GAMES_LICENSE.txt

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+MIT License
+
+Copyright (c) 2019 Denys88
+
+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.

references.tar.gz

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