README.md

metadata

license: mit
tags:
  - humanoid-robotics
  - motion-imitation
  - reinforcement-learning
  - phc
  - claims

CLAIMS PHC Assets

This repository hosts external assets for the CLAIMS project:

• intermediate CLAIMS PHC checkpoints
• one PHC baseline checkpoint
• PHC evaluation datasets used in our experiments

Related code repository:

• https://github.com/WesleyXu224/CLAIMS_Code

Related project page:

• https://wesleyxu224.github.io/CLAIMS/

Directory Structure

checkpoints/
  claims_single_prim/
    Humanoid_00014200.pth
    Humanoid_00031800.pth
    Humanoid_00050300.pth
    Humanoid_00061200.pth
    Humanoid_00074800.pth
    Humanoid_00086200.pth
    Humanoid_00094000.pth
  baseline_single_prim_amass/
    Humanoid.pth
sample_data/
  aist++_clean.pkl
  emdb_clean.pkl
  kungfu_g_clean.pkl
  video_convert_clean.pkl

Asset Summary

checkpoints/claims_single_prim/

• CLAIMS PHC checkpoints saved at multiple training stages

checkpoints/baseline_single_prim_amass/Humanoid.pth

• baseline PHC checkpoint used for comparison

sample_data/

• PHC evaluation datasets in pkl format

Usage

Example evaluation command:

python phc/run_hydra.py \
  learning=im_big \
  exp_name=claims_single_prim \
  env=env_im \
  robot=smpl_humanoid \
  env.motion_file=/path/to/video_convert_clean.pkl \
  env.num_envs=173 \
  test=True \
  epoch=94000 \
  headless=True \
  im_eval=True

Replace env.motion_file and checkpoint paths with your local paths after download.

Notes

• These files are released separately from the code repository because of size.
• SMPL / SMPL-X assets are not included here.
• Please consult the main CLAIMS repository for the full pipeline and environment setup.